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I had a similar problem and solved it by switching the input of navsat transform from 'ekf_odom' (local below) to 'ekf_map' (global below). I found the solution by noticing my nodes were not connected the same way as the illustration here and by carefully going through the example launch files in the repo (suggested here: https://answers.ros.org/question/200212/how-to-use-robot_localization/).

I had a similar problem and solved it by switching the input of navsat transform from 'ekf_odom' (local below) to 'ekf_map' (global below). I found the solution by noticing my nodes were not connected the same way as the illustration here in the docs and by carefully going through the example launch files in the repo (suggested here: https://answers.ros.org/question/200212/how-to-use-robot_localization/).