robot_localization angles diverge when robot is in high pitch

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@Nachum, please add the picture. Only link is showing.

Thank you for updating.

1. What information do you want the robot_localization to generate?
2. Please explain how "motor data" is supposed to help determine position/pose?
3. The integration of IMU acceleration data will slowly drift (accumulate error over time) - how does your system correct for this error?

1. position and orientation
2. motor data is wheel forward movement
3. obviously we need to use the map but the problem here isn't drifting, its going bad at high pitch

So this is a robot with wheels, and it moves on the ground? When you said altitude sensor, I assumed this was a drone. Why is altitude (height above sea-level) relevant?

at high pitch there is a lot of slipping so wheel data isn't enough.

Please edit your description and copy/paste your robot_localization config file, then format it as code using the 101010 button. It's OK if it is long. FYI, there are a very large number of existing questions on this site about how to configure IMU+wheel_encoder inputs to this package, so you might get an answer faster by searching for them.

You edit using the "edit" button at the end of the description.

You need to simplify the system to debug where the problems are. You could configure robot_localization with only one input (IMU or wheel_encoder or altimeter) to see if the output looks reasonable.