errors in using robot_localization package

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Hello ROS gurus,

I am trying to use robot_localization package to better localize my turtlebot in my lab environment. But it seems like it is not able to do what it is meant to do, i am not able to figure out what the problem is. Here is the description of what i have done and required files:

I am using ROS Indigo, Ubuntu 1404 on a turtlebot which is controlled with a joystick. I have configured robot_localiztion package after going through the wiki and some questions related to the package. I drove the robot around in a rectangular grid and collected data in a bag file and played it later. This is the launch file i am using and these are the results i got.

<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">

  <param name="frequency" value="30"/>  

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

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

  <param name="odom_frame" value="/odom"/>
  <param name="base_link_frame" value="/base_footprint"/>
  <param name="world_frame" value="/odom"/>

  <param name="odom0" value="/odom"/>
  <param name="imu0" value="mobile_base/sensors/Imu_data"/>

  <rosparam param="odom0_config">[false, false, false, 
                                  false, false, true, 
                                  true,  false, false, 
                                  false, false, false,
                                  false, false, false]</rosparam>

  <rosparam param="imu0_config">[false, false, false, 
                                 false,  false,  false, 
                                 false, false, false, 
                                 false,  false,  true,
                                 false,  false,  false]</rosparam>

  <param name="odom0_differential" value="false"/>
  <param name="imu0_differential" value="false"/>

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

  <param name="debug"           value="false"/>
  <param name="debug_out_file"  value="debug.txt"/>

</node>

Here is the tf frames out when i ran below command

rosrun tf view_frames

And this is the result of odometry plotted in Rviz (red is /odom from turtlebot green is /odometry/filtered from robot_localization)

I plotted odom data using python, here is the result. You can see that both odom(red) and odom_filtered(blue) are overlayed on each other

I am not getting any errors while using robot_localiztion package and tf frames looks right to me. I am not able to figure out what the problem is. Can anyone help me? And here is the bag file i am using.

bag file

NEW PLOTS:

tf frames

Also i ran the command rosrun tf tf_echo /gyro_gram /base_link_fram and i was able to see the output.

UPDATED ON 10/03/2016 4:10 PM

Here is my launch file:

<launch>

<include file="$(find autonomous_navigation)/launch/minimal.launch"/>



<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">

<param name="frequency" value="30"/>
<param name="sensor_timeout" value="0.1"/>
<param name="transform_time_offset" value="0.0"/>


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

<param name="map_frame" value="/map"/>
<param name="odom_frame" value="/odom"/>
<param name="base_link_frame" value="/base_footprint"/>
<param name="world_frame" value="/odom"/>

<param name="odom0" value="/odom"/>
<param name="imu0" value="mobile_base/sensors/imu_data"/>

<rosparam param="odom0_config">[false,false,false,false,false,false,true,true,true,false,false,false,false,false,false]</rosparam>

<rosparam param="imu0_config">[false,false,false,true,true,true,false,false,false,true,true,false,true,true,true]</rosparam>

<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false ...