Robot Localization Not Subscribing to Odometry and Imu Topics

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Hey you all!

I'm using ROS2 Galactic with Ubuntu 20.04 on an Nvidia Orin and i'm trying to use Robot_localization ekf node to merge data from a odometry msg (wheel encoder) and a imu msg (imu) but my ekf node it's not subscribing to the topics as ros2 node info shows. What can i do? i've tried a lot of tweaks already. I appreciate all the help! Below i'm posting my ekf yaml file, my ros2 node info file and the echo on the topics i want to subscribe.

ekf config file

ekf_filter_node_odom: ros__parameters:

    use_sim_time: false

    frequency: 30.0

    sensor_timeout: 0.1

    two_d_mode: true

    transform_time_offset: 0.0

    transform_timeout: 0.0

    print_diagnostics: true

    debug: true

    debug_out_file: /home/orinihr/Documents/debug.txt

    publish_tf: true

    publish_acceleration: false

    reset_on_time_jump: true # true

    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

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

    odom0_queue_size: 2
    odom0_nodelay: false
    odom0_differential: false
    odom0_relative: false

    imu0: imu/data
    imu0_config: [false, false, false,
                   true,  true,  true,
                   false, false, false,
                   true,  true,  true,
                   true,  true,  true]

    imu0_nodelay: false
    imu0_differential: true
    imu0_relative: false
    imu0_queue_size: 7

My Ros2 node info:

/ekf_filter_mapping Subscribers: /parameter_events: rcl_interfaces/msg/ParameterEvent /set_pose: geometry_msgs/msg/PoseWithCovarianceStamped Publishers: /diagnostics: diagnostic_msgs/msg/DiagnosticArray /odometry/filtered: nav_msgs/msg/Odometry /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /tf: tf2_msgs/msg/TFMessage Service Servers: /ekf_filter_mapping/describe_parameters: rcl_interfaces/srv/DescribeParameters /ekf_filter_mapping/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /ekf_filter_mapping/get_parameters: rcl_interfaces/srv/GetParameters /ekf_filter_mapping/list_parameters: rcl_interfaces/srv/ListParameters /ekf_filter_mapping/set_parameters: rcl_interfaces/srv/SetParameters /ekf_filter_mapping/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically /enable: std_srvs/srv/Empty /set_pose: robot_localization/srv/SetPose /toggle: robot_localization/srv/ToggleFilterProcessing Service Clients:

Action Servers:

Action Clients:

My odometry echo:

header: stamp: sec: 1664368957 nanosec: 148612552 frame_id: odom child_frame_id: base_link pose: pose: position: x: 45.78006362915039 y: -1.4404045343399048 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 ... (more)