Base link oscillating between Encoder odom and filtered odom from robot localization package

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Hello,

I made a differential drive mobile robot using move base and it used encoder ticks from wheel encoder to calculate odometry and i used this package link text

The robot faced localization problem due to wheel slippage so, To improve localization i fused odom from wheel encoder and imu data from realsense L515 USing ROBOT_-LOCALIZATION PACKAGE. after fusing it the filtured odom is not accurate and the tf of base_link is keep oscillating between encoder /diif/odom and the /odom from robot localization. Also i rotated the robot wheel by keeping the robot stationary as a result both the odom is rotating.

BELOW IS MY EKF YAML FILE

After going through the robot localization documentation completly, I tried every example in the configuring robot localization docs page link text no improvement.

frequency: 30
two_d_mode: true
publish_tf: true
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom

# odom from the wheel encoders
odom0: /diff/odom
odom0_config: [false, false, false,
               false, false, true,
               true,  true,  false,
               false, false, false,
               false, false, false]

odom0_differential: true
#odom0_relative: true

imu0_remove_gravitational_acceleration: true
## IMU 0 data from the intel L515
imu0: /imu/dataa
imu0_config: [false, false, false,
              false, false, true,
              false, false, false,
              false, false, false,
              true,  false, false]
#imu_linear_acceleration_rejection_threshold: 0.5
#imu_angular_velocity_rejection_threshold: 0.5

#imu0_relative: false
imu0_differential: false

MY SAMPLE ODOM DATA (/diff/odom) generated from wheel encoders. which works pretty good, static output when the robot is not moving and tested it with BOX TEST

header: 
  seq: 1991
  stamp: 
    secs: 1683974534
    nsecs: 421610116
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: -0.045909170121061965
      y: 0.0009563543501025512
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.009476805004755682
      w: 0.9999550940751799
  covariance: [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, 0.0, 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, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [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, 0.0, 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, 0.0, 0.0, 0.0, 0.0, 0.0]

For the imu data i using a l515 realsense camera's imu. i ran the following cmd

roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true

which publishes accleration and gyro in two topic below is accleration data

header: 
  seq: 38099
  stamp: 
    secs: 1683970284
    nsecs: 140621662
  frame_id: "camera_accel_optical_frame"
orientation: 
  x: 0.0
  y: 0.0
  z ...