Hey, i'm trying to do Lidar localization on known map using SICK NAV310 with its ros driver. My plan is to map with hector slam and localize with amcl. For odometry, i'm trying to use rf2olaserodometry package. When i launch the rf2o package for a trial, the drift is too big when i try to rotate the lidar as in the video in this link with its tftree and rosgraph. Here is my launch file for rf2o:

<launch>

      <node pkg="tf" type="static_transform_publisher" name="base_to_cloud_broadcaster" args="0 0 0 0 0 0 base_link cloud 100" />

      <node pkg="rf2o_laser_odometry" type="rf2o_laser_odometry_node" name="rf2o_laser_odometry" output="screen">
        <!-- <param name="laser_scan_topic" value="/laser_scan"/>        # topic where the lidar scans are being published -->
        <param name="laser_scan_topic" value="/sick_nav_3xx/scan"/>        # topic where the lidar scans are being published
        <param name="odom_topic" value="/odom_rf2o" />              # topic where tu publish the odometry estimations
        <!-- <param name="publish_tf" value="false" />                   # wheter or not to publish the tf::transform (base->odom) -->
        <param name="publish_tf" value="true" />                   # wheter or not to publish the tf::transform (base->odom)
        <param name="base_frame_id" value="base_link"/>            # frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory
        <param name="odom_frame_id" value="odom" />                # frame_id (tf) to publish the odometry estimations    
        <!-- <param name="init_pose_from_topic" value="/base_pose_ground_truth" /> # (Odom topic) Leave empty to start at point (0,0) -->
        <param name="init_pose_from_topic" value="" /> # (Odom topic) Leave empty to start at point (0,0)
        <param name="freq" value="6.0"/>                            # Execution frequency.
        <param name="verbose" value="true" />                       # verbose   
     </node>    
</launch>

Sorry for lack of a pictures as i don't have enough karma points. Hope anyone can help, Thanks!