when displaying base_footprint in rviz angular movement not shown

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for example when i manually move my robot forward it accurately knows where it is but if i move my robot angular it does not display in rviz that it is moving angular i am using an mpu6050 and wheel encoders and fuse the two by the robot_pose_ekf also i have noticed if i do not use an imu it does show angular movement but its inaccurate, any ideas, i suspect it has to do with the imu here's the code

https://github.com/bandasaikrishna/orientations_from_IMU_MPU_6050/blob/main/mpu_6050_driver/scripts`/imu_node.py`