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you should use AMCL. it is THE node for localization in ROS.

you should use AMCL. it is THE node for localization in ~~ROS.~~ROS. And, as mentioned by @gvdhoorn, you should not publish the tf between /map and /odom, because that is exactly what you want to be published by a localization algoritm (follow the link above on AMCL and check the illustrations on the bottom of the page).

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