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Hi, I am trying to set up robot_localization on an outdoor mobile robot that I am building from scratch. The vehicle is a four wheeled mobile robot and the onboard computer is a Raspberry Pi 3 with a Navio2 hat from Emlid. The Navio2 has two IMUs: a MPU9250 and a LSM9DS1 and a U-blox M8N GPS (among other sensors). I developed a navio2_ros package to access those sensors data as ROS nodes. In my setup I am currently using the odometry from the DC motors, the LSM9DS1 and the GPS.

I have properly configured the IMU following the documentation and calibrated the magnetometer using the robot_calibration package. The gyroscope and accelerometer bias are removed with the imu_complementary_filter package and then imu_filter_madgwick package provides the orientation in ENU using the magnetometer. When the vehicle faces East, the yaw angle is 0 and when the vehicle faces North, the yaw angle is 90 degrees.

Then I have tried to configure a dual EKF setup with two ekf_localization_node and a navsat_transform_node. My launch file goes like this

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_odom" clear_params="true" output="screen">
    <remap from="odometry/filtered" to="odometry/filtered_odom"/>
  </node>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_map" clear_params="true" output="screen">
    <remap from="odometry/filtered" to="odometry/filtered_map"/>
  </node>

  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" clear_params="true" output="screen">
    <remap from="odometry/filtered" to="odometry/filtered_map"/>
    <remap from="gps/fix" to="/gps/fix" />
  </node>

and the YAML configuration file has the following content

ekf_se_odom:
  frequency: 20
  sensor_timeout: 0.1
  two_d_mode: false
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

  odom0: hibachi_velocity_controller/odom
  odom0_config: [false, false, false,
                 false, false, false,
                 true,  true,  true,
                 false, false, true,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

  imu0: imu/data
  imu0_config: [false, false, false,    # x,   y,   z
                true,  true,  true,     # r,   p,   w (yaw)
                false, false, false,    # dx,  dy,  dz
                true,  true,  true,     # dr,  dp,  dw
                false, false, false]    # ddx, ddy, ddz
  imu0_nodelay: true
  imu0_differential: true
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: true

  use_control: false

ekf_se_map:
  frequency: 20
  sensor_timeout: 0.1
  two_d_mode: false
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false
  dynamic_process_noise_covariance: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: map

  odom0: hibachi_velocity_controller/odom
  odom0_config: [false, false, false,    # x,   y,   z
                 false, false, false,    # r,   p,   w (yaw)
                 true,  true,  true,     # dx,  dy,  dz
                 false, false, true,     # dr,  dp,  dw
                 false, false, false]    # ddx, ddy, ddz

  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

  odom1: odometry/gps
  odom1_config: [true,  true,  false, # x,   y,   z
                 false, false, false, # r,   p,   w (yaw)
                 false, false, false, # dx,  dy,  dz
                 false, false, false, # dr,  dp,  dw
                 false, false, false] # ddx, ddy, ddz

  odom1_queue_size: 10
  odom1_nodelay: true
  odom1_differential: false
  odom1_relative: false

  imu0: imu/data
  imu0_config: [false, false, false, # x,   y,   z
                true,  true,  true, # r,   p,   w (yaw)
                false, false, false,  # dx,  dy,  dz
                true,  true,  true, # dr,  dp,  dw
                false ...