I tried to run with the bag you gave and it didn't work out so well?

[improve100]

os:ubuntu1604 ros:kinetic
result:

[cggos]

Through the information you gave, can't I help you solve the problem, can you provide more information?

[improve100]

I have a few questions that may be the cause of this problem。
1.Problem of Erkf initial value calculation of attitude,Corresponding code function：
init_rot_from_imudata(),get roll pitch yaw zero zero zero?
2.Posture update in erkf. in gps_callback() function without posture update?only x,y,z

[cggos]

it works well on my computer with the code and the bag file. maybe you can look for the problem carefully again.

[LiZiJack]

os:ubuntu1604 ros:kinetic result:

how you deal the problem? I got the same problems