rosbot 2.0 pro odom shaking when odom0_relative=true

[Wer-Wolf]

Per default, ekf_params.yaml sets odom0_relative to true.
This however causes the robots odom to become quite instable,
setting odom0_relative to false solves this problem.

Also ros noetic warns that imu0_differential/_relative are both set to true.

I am using a Rosbot 2.0 Pro.

[AIJK2323]

When running turn_on_wheeltec_robot.launch.py with the argument akmcar:=true, the ROS 2 software layer successfully switches to the Ackermann configuration (loading top_akm_bs.urdf and subscribing to ackermann_cmd). However, the physical STM32 controller board completely ignores this configuration. The onboard OLED screen remains stuck on TYPE: 2 (Mecanum layout) and refuses to switch to the Ackermann layout profile.