diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 955cac07a4..4fc3e3e074 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -192,3 +192,10 @@
     local-name: sktometometo/esp_now_ros
     uri: https://github.com/sktometometo/esp_now_ros.git
     version: v0.4.0
+# melodic version of robot_localization causes TF_REPEATED_DATA Errors to noetic client
+# So we have to adopt https://github.com/cra-ros-pkg/robot_localization/pull/595 (Using noetic-devel causes some localization trouble)
+# After https://github.com/cra-ros-pkg/robot_localization/pull/840 has been merged, we can use upstream melodic-devel branch
+- git:
+    local-name: cra-ros-pkg/robot_localization
+    uri: https://github.com/mqcmd196/robot_localization.git
+    version: 2.6.9-suppress
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 16dea4af56..f06beff91f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -111,7 +111,12 @@
                      false, false, false]
       odom0_nodelay: true
       odom0_differential: true
+      permit_corrected_publication: false
     </rosparam>
+    <!--
+    See https://github.com/jsk-ros-pkg/jsk_robot/issues/1876
+        for permit_corrected_publication
+    -->
   </node>
 
   <!-- Visual Odom -->