robot_localization with GPS,IMU and odometry , in Gazebo simulation

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Hello, I have been working to configure the dual_ekf_navsat setup from robot_localization(brilliant piece of software) for using it with my simulated robot in Gazebo,
I have all sensors, thanks to gazebo_plugins, I have ;

• Ackermann drive plugin that also provides odom
• IMU plugin provides imu/data
• GPS sensor plugin provides gps/fix

I have identical sensor setup with the basic example provided in dual_ekf_navsat, but so far for some reason the second instance of EKF that is responsible for GPS, shifts dramatically and finally explodes. The first EKF instance responsible for continues odom->base_link transform seems doing fine. I really don't know what I am missing here, I checked all the topics names and data published under these topics. Everything is in simulation , so I will expect it to work ideally. y dual_ekf_navsat.yaml is ;

# For parameter descriptions, please refer to the template parameter files for each node.

ekf_local_filter_node:
  ros__parameters:
    use_sim_time: true
    clear_params: true
    publish_tf: true
    filter_type: "ekf"
    frequency: 30.0
    sensor_timeout: 0.1
    odom0: /odometry/wheel
    imu0: /imu/data
    odom_frame: odom
    base_link_frame: base_link
    world_frame: odom
    map_frame: map
    odom0_config: [false,  false, false, # X , Y , Z
                    false, false, false, # roll , pitch ,yaw
                    true,  true,  true,  # dX , dY , dZ
                    false, false, false, # droll , dpitch ,dyaw
                    false, false, false] # ddX , ddY , ddZ
    odom0_relative: false
    odom0_differential: false
    odom0_queue_size: 10
    imu0_config: [false,  false, false,  # X , Y , Z
                  false,  false,  true,  # roll , pitch ,yaw
                  false,  false, false,  # dX , dY , dZ
                  false,  false,  true,  # droll , dpitch ,dyaw
                  false,  false,  false] # ddX , ddY , ddZ
    imu0_relative: false                
    imu0_differential: false
    imu0_queue_size: 10
    imu0_remove_gravitational_acceleration: true
    process_noise_covariance: [0.03, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.03, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0.04, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0.0,    0.03, 0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0.0,    0.0,    0.03, 0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0.0,    0.0,    0.0,    0.06, 0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.025, 0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.025, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                                0.0,    0.0,    0 ...