I have built a map of a world and launched my navigation launch file for self-navigation. My robot model cannot localize in the map and it keep on jumping inside the map with confusion. I carried out test for laser and odometry, given in this tutorial and both are seems to be perfect. I can build a perfect map using slam_gmapping node but can't simulate the initial pose and goal in rviz, the model fails to localize. How to tune the localization node for perfect results.

EDIT 1:

Launch file

<launch>
  <!-- Load the TortoiseBot URDF model into the parameter server -->
  <param name="robot_description" textfile="$(find jmbot2_description)/urdf/jmbot1.2.urdf" />
  <!-- Start Gazebo with a world containing a large building-->
  <include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>
  <!-- include file="$(find gazebo_ros)/launch/empty_world.launch"/ -->
  <!-- Spawn a TortoiseBot in Gazebo, taking the description from the
       parameter server -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 
    args="-param robot_description -urdf -model jmbot1.2 -x 8 -y -8" />

<!-- Convert /joint_states messages published by Gazebo to /tf messages,
       e.g., for rviz-->
  <node name="robot_state_publisher" pkg="robot_state_publisher"
        type="robot_state_publisher"/>
  <node name="map_server" pkg="map_server" type="map_server"
        args="$(find mapping2)/src/maps/mapnew.yaml"  />

<include file="$(find amcl)/examples/amcl_diff.launch"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find jmbot2_description)/src/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find jmbot2_description)/src/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find jmbot2_description)/src/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find jmbot2_description)/src/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find jmbot2_description)/src/base_local_planner_params.yaml" command="load" />
    <param name="controller_frequency" value="5.0"/>
  </node>

</launch>

baselocalplanner_params.yaml

TrajectoryPlannerROS:
  holonomic_robot: false
  meter_scoring: true

costmapcommonparams.yaml

obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.5
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: hokuyo_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}

globalcostmapparams.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 2.0
  static_map: true

localcostmapparams.yaml

local_costmap:
  global_frame: /odom
  robot_base_frame: base_link
  update_frequency: 2.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 10.0
  height: 10.0
  resolution: 0.050000