ekf out nans

[wangdy-code]

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Describe the bug
A clear and concise description of what the bug is.
I encountered this error when I was using this software library.
[ekf_node-3] [ERROR] [1764836579.078668078] [ekf_filter_node]: Critical Error, NaNs were detected in the output state of the filter. This was likely due to poorly coniditioned process, noise, or sensor covariances.
To Reproduce
Steps to reproduce the behavior:
1.

Expected behavior
A clear and concise description of what you expected to happen.

Screenshots
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Desktop (please complete the following information):

• OS:ubuntu 22.02
• ROS Distribution:ros2 humble
• robot_localization Package Version: humble
  Additional context
  Add any other context about the problem here.

[micat001]

I see a similar thing, and it creates downstream failures like this:

[SteveMacenski]

Did you try to fix the covariance matrices of the inputs to make sure they're well conditioned matrices? I put that error in there with that detail for a reason :-)