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A bunch of things.
rostopic info
and make sure that the EKF is subscribed to the topic.world_frame
set to odom. That means the EKF is going to try to transform all pose data into the odom frame before using it. If there's no transform available from map->odom, the EKF can't use your map frame data. So it ignores your odometry.base_link
frame set to base_link, but your odometry data has a child_frame_id
of bicycle. Again, the EKF will need to transform from bicyle->base_link if you want it to use that data.