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I am a beginner building a mobile outdoor robot using robot_localization and navsat_transform_node. My current setup is to use the ZED2 odom->base_link for relative localization and a robot_localization fusing ZED2+GPS for the map->odom link. I am scaling up the covariance of the ZED2 odom output into /zed2/zed_node/odom/scaled since it reports very low values. My main problem however is that the /odometry/filtered output doesn't seem to be taking in the GPS corrections and is simply adhering to the zed2 odom. I also have a rosbag available if that would help (not sure how to upload it here though)

ekf_localization:
frequency: 10 
   
odom0: "/odometry/gps"
odom0_config: [true, true, false,
               false, false, false, 
               false, false, false,
               false, false, false,
               false, false, false]

odom0_differential: false 
odom0_queue_size: 10
odom0_nodelay: false

odom1: "/zed2/zed_node/odom/scaled"
odom1_config: [true, true, true,
               true, true, true, 
               false, false, false, 
               false, false, false,
               false, false, false]
odom1_differential: true 
publish_tf: true 
two_d_mode: true      
zero_altitude: true
odom1_queue_size: 10

transform_time_offset: 0.0
sensor_timeout: 0.1

print_diagnostics: true

/odometry/gps message:

header: 
  seq: 88
  stamp: 
    secs: 1715040885
    nsecs: 999999941
  frame_id: "map"
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: -1.8082647579722106
      y: 6.78674371377565
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [10.329796, -7.638623819165389e-16, 0.0, 0.0, 0.0, 0.0, 4.800402657245562e-16, 10.329796, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 52.911076, 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]

zed2 message:

header: 
  seq: 3051
  stamp: 
    secs: 1714862760
    nsecs: 820313376
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: -2.2758363942759643
      y: -3.6461416012254793
      z: 2.54802149433537
    orientation: 
      x: -0.10131179962388726
      y: -0.04599926700586338
      z: 0.76016454488177
      w: 0.640132682650569
  covariance: [25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 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]
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