Navsat_transform ekf Odometry/gps jumping to random values

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Hey you all!

I'm trying to simulate a navsat (gps) on a ignition gazebo simulation but i'm having some troubles with different results in the odometry/global and odometry/local topics using the navsat transform node, it is supposed to be that different? I tried to do the EKF with the same sensor inputs and still have an offset which is pretty weird. The topic output of odometry/global and odometry/local after i move the robot a little in the simulation are as follows:

EDIT1: I think it might have to do with the values of my Odometry/gps being too far from each other and changing too much at every step. I also noticed that my gps/fix and gps/filtered topics stays the same. It doesnt update, is that suposed to be like that? It stays in the spherical coordinates in origin even if my robot moves. As follows my odometry/gps topic echos:

header: stamp: sec: 9 nanosec: 500000000 frame_id: map child_frame_id: '' pose: pose: position: x: -14284.242740421556 y: 40063.96676235087 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0

header: stamp: sec: 9 nanosec: 400000000 frame_id: map child_frame_id: '' pose: pose: position: x: 51796.78036309546 y: -73793.62852960825 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0

header: stamp: sec: 9 nanosec: 300000000 frame_id: map child_frame_id: '' pose: pose: position: x: -109302.91985165933 y: -54294.5602690829 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0

header: stamp: sec: 9 nanosec: 200000000 frame_id: map child_frame_id: '' pose: pose: position: x: 55014.76906251442 y: 13793.76866940409 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0

Does anybody knows why the values are variating that much ?

Odometry/global:

header: stamp: sec: 128 nanosec: 400000000 frame_id: map child_frame_id: prius_hybrid/base_link pose: pose: position: x: 30.22977389559373 y: -1.681874941073202 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.6969526635902402 w: 0.7171171345843506

Odometry/local:

header: stamp: sec: 132 nanosec: 900000000 frame_id: prius_hybrid/odom child_frame_id: prius_hybrid/base_link pose: pose: position: x: 29.080819302609783 y: -5.793992834450633 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.06309003914389398 w: 0.9980078391279409

My Odom topic:

header: stamp: sec: 168 nanosec: 380000000 frame_id: prius_hybrid/odom child_frame_id: prius_hybrid/base_link pose: pose: position: x: 29.080834914179928 y: -5.794012295793156 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.02474994638018044 w: 0.9996936731590224

My Odometry/gps topic:

header: stamp: sec: 181 nanosec: 300000000 frame_id: map child_frame_id: '' pose: pose: position: x: 6355519.595500257 y: -2377438.96173511 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0

My Gps/fix topic:

header: stamp: sec: 200 nanosec: 200000000 frame_id: prius_hybrid/base_link/gps_sensor status: status: 0 service: 0 latitude: -29.06480303731489 longitude: -51.81648093165863 altitude: 718.3080508620511

My Gps/filtered topic:

header: stamp: sec: 209 nanosec: 334000000 frame_id: prius_hybrid ... (more)