Issues with the use of ROS2 outdoor multi-point navigation, IMU, RTK, and odometer fusion with UKF in conjunction with NAV2

[Darkshenshen]

I am using the jazzy version of ROS2
It can operate normally on gazboo, but some issues arise during runtime after actual deployment. Observing through rviz2, the navigation path is generated normally, but the car cannot travel along the planned path correctly; specifically, it only rotates counterclockwise without linear velocity.

[SteveMacenski]

Please ask on robotics stack exchange with more details, videos, configuration files, etc