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I have attached my yaml and launch files. I have another launch file where I launch the laser and robot drivers. Can someone look at these files and tell me if I am doing something wrong. The only thing I don't know is if I am setting up the robot correctly.

I run ABBRA_STACK.launch first then I run AMCL.launch.

Please help, I have tried all different variations of parameters, no static map, all static map. etc.

Okay the files are here: http://www.towleindustry.com/MyAMCL_SETUP.tar.gz

Thanks in advance, BM