robot_pose_ekf problems, timestamp, frames transformation [closed]

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Hello,

I am using robot_pose_ekf to fuse data from IMU, encoders and gps. Filter is performing really bad. Results are far from being precise.

During the running of the node, i get several errors:

[ERROR] [1373966320.259468440]: Timestamps of odometry and imu are 1.463487 seconds apart.
[ERROR] [1373966703.475481395]: Could not transform imu message from base_link to base_footprint
[ERROR] [1373966703.750433325]: Timestamps of odometry and imu are 4.054829 seconds apart.
[ INFO] [1373966703.750547445]: Odom sensor not active any more
[ INFO] [1373966703.750629928]: GPS sensor not active any more
[ERROR] [1373966703.750895464]: TF_NAN_INPUT: Ignoring transform for child_frame_id "/base_footprint" from authority "default_authority" because of a nan value in the transform (409490.661049 5476131.598444 nan) (0.024942 -0.090772 0.019537 0.995368)
[ERROR] [1373966703.751012029]: Cannot get transform at time 0.000000
[ERROR] [1373966703.751104568]: Cannot get transform at time 0.000000
[ WARN] [1373966703.751197178]: TF to MSG: Quaternion Not Properly Normalized
[ WARN] [1373966703.751528436]: TF_OLD_DATA ignoring data from the past for frame /base_footprint at time 0 according to authority /robot_pose_ekf_cp
Possible reasons are listed at

Also, when I am using GPS sensor, Filter is performing really badly with great delays.

If anyone has idea how to fix timestamps, for the beginning, or if anyone got robot_pose_ekf running properly (I see there is a lot of issue with this one), please post here.