Robot localization with zed2 odom and imu with gps not working.

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Description

Sorry if this is more of a localization question rather than a zed_wrapper problem. I am actually trying to fuse zed2 odometry data with the imu and gps using navsat transform node and dual ekf localization.In one ekf localization i have fused the non-continous data such as pose, odometry from the gps obtained from the navsat transform node setting the world frame id as map. Another ekf localization for fusing the continous data such as zed2 odom and imu. my final target is to localization my vehicle for the navigation stack to work on.

my localization file looks something like this. localization.txt i have followed steps from this #549 and #603

Expected Result

Localization to be continous.

Actual Result

my localization seems to be failing as i run my move base node.

ZED Camera model

ZED2

Environment

OS: linux (ubuntu)
Ros melodic

stereolabs / zed-ros-wrapper