Trouble about using robot_localization package [closed]

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Hi, I‘m doing a robot using GPS navigation. So I use the robot_localization package to fuse IMU and GPS data. But the topic odometry/gps 's output was like this and never change even the robot is moving

header: 
  seq: 173
  stamp: 
    secs: 2785
    nsecs: 800000000
  frame_id: "odom"
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: -0.0005534869851544499
      y: 0.0020810341835022e-05
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

And there is a warning when starting the navsat_transform_node Transform from imu_link to base_link was unavailable for the time requested. launch file is here

<launch>
<!--  Transforms  -->
<node pkg="tf" type="static_transform_publisher"
    name="gps_transform"
    args="0 0 0 0 0 0 base_link gps_link 10" />
<node pkg="tf" type="static_transform_publisher"
                name="imu_transform"
                args="0 0 0 0 0 0 base_link imu_link 10" />

<!-- Navsat Transform -->
  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" clear_params="true">
    <param name="magnetic_declination_radians" value="0"/>
    <param name="yaw_offset" value="0"/>
    <param name="zero_altitude" value="true"/>

    <param name="use_odometry_yaw" value="false"/>
    <param name="wait_for_datum" value="false"/>

    <param name="publish_filtered_gps" value="true"/>
    <param name="broadcast_cartesian_transform" value="false"/>

    <remap from="/imu/data" to="/imu/data" />
    <remap from="/gps/fix" to="/gps/fix" />
    <remap from="/odometry/filtered" to="/odometry/filtered" />
 </node>

<!-- EKF Node -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_with_gps">
  <rosparam command="load" file="$(find my_simulator)/config/gps_localization_config.yaml" />
</node>

</launch>

gps_localization_config.yaml

# GPS and IMU Localization
frequency: 30

sensor_timeout: 0.1

two_d_mode: true

transform_time_offset: 0.0


transform_timeout: 0.0


print_diagnostics: true

debug: false

publish_tf: true

publish_acceleration: false


map_frame: map              # Defaults to "map" if unspecified
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link  # Defaults to "base_link" if unspecified
world_frame: odom           # Defaults to the value of odom_frame if unspecified

odom0: /odometry/gps

odom0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, true,
               false, false, false]

odom0_queue_size: 10


odom0_nodelay: false

odom0_differential: false ...