I have used robot_localization node to fuse my odometry data with IMU. After running it and visualizing in RViz the tf tree is jiggling a lot (maybe due to multiple sources publishing the info at the same time). How do I solve this?

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I am using ROS NOETIC and Pioneer3DX as the mobile robot which publishes Odometry info into /RosAria/pose topic as nav_msgs/Odometry message. Phidgets Spatial IMU is being used which published the IMU data to /imu/data_raw and /imu/data (this uses imu_madgwick filter to get the orientation data) topics as sensor_msgs/imu.

This is my launch file:

<launch>

<node pkg="robot_localization" type="ekf_localization_node" name="ekf_odom_node" output="screen" >

   <param name="frequency" value="10"/>

   <param name="sensor_timeout" value="0.1"/>

   <param name="publish_tf" value="true"/>

   <param name="two_d_mode" value="true"/>

   <remap from="odometry/filtered" to="odom/ekf/enc_imu"/>

   <!-- <param name="map_frame" value="map"/> -->

   <param name="odom_frame" value="odom"/>

   <param name="base_link_frame" value="base_link"/>

   <param name="world_frame" value="odom"/>

   <param name="transform_time_offset" value="0.0"/>

   <param name="odom0" value="/RosAria/pose"/>

   <param name="odom0_differential" value="true" />

   <param name="odom0_relative" value="false" />

   <param name="odom0_queue_size" value="10" />

   <rosparam param="odom0_config">[false,  false, false,

                                   false, false, false,

                                   true, true, false,

                                   false, false, true,

                                   false, false, false]</rosparam>

   <param name="imu0" value="/imu/data"/>

   <param name="imu0_differential" value="false" />

   <param name="imu0_relative" value="true" />

   <param name="imu0_queue_size" value="10" />

   <param name="imu0_remove_gravitational_acceleration" value="true" />

   <rosparam param="imu0_config">[false,  false, false,

                                  false, false, true,

                                  false, false, false,

                                  false, false, true,

                                  true, false, false]</rosparam>

   <param name="print_diagnostics" value="true" />

   <param name="debug" value="false" />

   <param name="debug_out_file" value="debug_odom_ekf.txt" />

   <rosparam param="process_noise_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, 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, 2.7491722135750453e-06, 0, 0, 0, 0, 0,

                                               0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2.7491722135750453e-06, 0, 0, 0, 0,

                                               0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2.7491722135750453e-06, 0, 0, 0,

                                               0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7.53975837175367e-06, 0, 0,

                                               0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7.53975837175367e-06, 0,

                                               0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7.53975837175367e-06]</rosparam>

</node>

</launch>

My Odometry data doesn't have ... (more)