Rviz odometry is all yellow

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Hello guys! I have a problem in displaying odometry in Rviz. I use robot localization to fuse odometry from wheels and visual odometry from Kinect. When I turn on visualization in Rviza all screen seems to be yellow. And after several moves it totaly paints all with yellow colour.

I disabled tf from wheel odometry and from visual odometry. Only robot_localization provides tf with odom. Here is my robot_localization launch.

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

  <remap from="odometry/filtered" to="odom" />

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

  <param name="two_d_mode" value="false"/>
  <param name="transform_time_offset" value="0.0"/>

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

  <param name="odom0" value="odom_base"/>
   <param name="odom1" value="odom_visual"/>

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

  <rosparam param="odom1_config">[false, false, false, 
                                  false, false, false, 
                                  true, true, false,   
                                  false, false, false,
                                  false, false, false]</rosparam>

  <param name="odom0_differential" value="false"/>
<param name="odom1_differential" value="false"/>

  <param name="odom0_relative" value="false"/>
<param name="odom1_relative" value="false"/> 

  <param name="use_odometry_yaw" value="false"/>-->

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

  <param name="alpha" value="0.001"/> 
  <param name="kappa" value="0"/> 

  <param name="beta" value="2"/>

</node>

</launch>

And in addition odom that I get is very inaccurate. So what's problem? Why everything is yellow?