robot_localization node setup [closed]

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Hello, All

I am currently trying to use robot_localization node in my project. I run two instances of the node.

First for ODOM to BASE_FOOTPRINT transform with Odometry messages from /odom topic fused.

ekf_odom_params.yaml

frequency: 15
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
odom_frame: odom
base_link_frame: base_footprint
world_frame: odom

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

use_control: false

process_noise_covariance: [1.0, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                          0,    1.0, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                          0,    0,    1e-3, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0.3,  0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0.3,  0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0.01, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0.5,   0,     0,    0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0.5,   0,    0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0.1,  0,    0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0,    0.3,  0,    0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.3,  0,    0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.3,  0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.3,  0,    0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.3,  0,
                          0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.3]

initial_estimate_covariance: [1.0, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                             0,    1.0, 0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                             0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                             0,    0,    0,    1.0,  0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                             0,    0,    0,    0,    1.0,  0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                             0,    0,    0,    0,    0,    1e-9, 0,    0,    0,    0,     0,     0,     0,    0,    0,
                             0,    0,    0,    0,    0,    0,    1.0,  0,    0,    0,     0,     0,     0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0,    1.0,  0,    0,     0,     0,     0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0,    0,    1.0,  0,     0,     0,     0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0,    0,    0,    1.0,   0,     0,     0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     1.0,   0,     0,    0 ...