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Due to the time difference in the timestamps (3 seconds), it looks like you have /tf setup problems, or some serious latency issues. Are you running these on different computers? Are the clocks synced with chrony or something similar?

Due to the time difference in the timestamps (3 (3-5 seconds), it looks like you have /tf tf setup problems, or some serious latency issues. issues.

You can set a tolerance value on amcl to future date the tf timestamps and prevent extrapolation errors, but the most you'd ever need would be ~0.1 s or so.

Are you running these the nodes on different separate computers? Are the clocks synced with chrony or something similar?