I need to do georeferencing with point clouds on Gazebo so I use navsat_transform_node to convert gps to odom information as odometry/gps and I use ekf localization with "odometry/gps" and "imu/data" nodes as I am inspired by [https://answers.ros.org/question/200071/how-to-fuse-imu-gps-using-robot_localization/] but the yaw angle that I take from "odometry/filtered" node drifts even though I set all the drift and noise values to zero in husky.gazebo.xacro file.
Can you tell me what should I do to get a perfect yaw angle on Gazebo or what am I doing wrong?
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