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Thank you so much for your advice, we had the same sensation. Probably the odometry is not correct during rotation due to the changes in the payload carried by the robot.

I modified the turtlebot_calibration package in order to use it with my robot, obviously it does not solve the problem but it makes it happen later.

I expected the amcl node could handle this asset error during rotation, using the laser (for example in the same way it is done by the turtlebot_calibration ) to match the cells of the particle filter.

I would like to know if it is possible or not with amcl. Since it would not be possible I could insert periodic calibration during the robot movements.

Thank you for your attention :)