robot_localization producing 180° rotation jumps only when static publishing map->odom

I have configured `world_frame=odom`. When I statically publish TF map->odom my output of ekf_localization_node is jumping a lot. I've looked all over for the problem but I am stuck! Here's an 8 second streamable video of the problem seen in rviz: https://drive.google.com/file/d/0B6qINUvvDwDfMzdWUG1CWWNlMm8/view?usp=sharing When I comment out... ...the problem goes away and I see good, stable, filtered odom. My data bag of the problem https://drive.google.com/file/d/0B6qINUvvDwDfOGxYdVFvUlFMNzg/view?usp=sharing My ekf_localization_node.launch [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false][true, true, false, false, false, false, false, false, false, false, false, true, false, false, false] My rtabmap rgbd_odometry.launch My roswtf dan@ubuntu:~/URC$ roswtf Loaded plugin tf.tfwtf No package or stack in context ================================================================================ Static checks summary: No errors or warnings ================================================================================ Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules running tf checks, this will take a second... ... tf checks complete Online checks summary: Found 2 warning(s). Warnings are things that may be just fine, but are sometimes at fault WARNING The following node subscriptions are unconnected: * /ekf_localization_local: * /set_pose * /rqt_gui_py_node_8452: * /statistics WARNING The following nodes are unexpectedly connected: * /rgbd_odometry/zed_odom->/rviz_1492655609198267406 (/tf) * /rgbd_odometry/zed_odom->/roswtf_9931_1492660614427 (/tf) * /robot_base_to_camera_link->/rviz_1492655609198267406 (/tf_static) * /map_to_odom->/rviz_1492655609198267406 (/tf_static) * /camera_link_to_zed_actual_frame->/rviz_1492655609198267406 (/tf_static) My bad TF (when publishing static map->odom transform) $ rosrun tf tf_echo robot_base odom At time 1492662864.848 - Translation: [0.001, -0.017, -0.038] - Rotation: in Quaternion [0.639, -0.283, -0.638, 0.324] in RPY (radian) [1.541, 0.684, -1.535] in RPY (degree) [88.289, 39.178, -87.969] My good TF (when NOT publishing static map->odom transform) $ rosrun tf tf_echo robot_base odom At time 1492661532.036 - Translation: [0.016, -0.004, 0.000] - Rotation: in Quaternion [-0.000, -0.000, 0.001, 1.000] in RPY (radian) [-0.000, -0.000, 0.003] in RPY (degree) [-0.000, -0.000, 0.154] I'm using Ubuntu 16.04 on a TX1. Here's my version of robot_localization commit 3c7521fb109fcd0fe6090ae8ae407b031838e80d Merge: fe2f10e cd86690 Author: Tom Moore Date: Mon Mar 27 19:45:55 2017 +0100 Merge pull request #355 from clearpathrobotics/fix_gains_defaults Fix acceleration and deceleration gains default logic I appreciate any help! Thanks! Fixed typo: my problem transform IS map -> odom