robot_localization non uniform inaccurate odometry

Im running a simulation in Gazebo combining the odomery data (coming from the differential drive plugin) and the imu data (from GazeboRosImuSensor plugin). Im quite new to ROS and im totally confused with the ENU and NED frames .. This is what I did 1)placed the IMU in its neutral position 2)setup a static transform broadcaster which broadcasts my base_link to odom frame here i made the rotation. I have rolled it by 180 and yaw by 90 . this is the code snippet in my launch file I tested the IMU and it shows correct accelerations as shown ( http://docs.ros.org/lunar/api/robot_l... ) This is my paramter config file for the robot_localization package odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] imu0_config: [false, false, false, false, false, true, false, false, false, false, false, true, true, true, false] odom0_queue_size: 2 imu0_queue_size: 5 odom0_nodelay: false imu0_nodelay: false odom0_differential: false imu0_differential: false odom0_relative: false imu0_relative: false The problem is that the filtered odometry data is moving at 90 degees to original raw odometry data