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To me it looks like amcl doesn't relocate because your rotation is < update_min_a ("Rotational movement required before performing a filter update"), so try reducing that parameter.

You should probably also increase the odom_alpha1/odom_alpha2 ("expected noise in odometry's rotation estimate") parameters if your IMU's orientation estimation is inaccurate.

Read through the parameter explanations in the wiki: http://wiki.ros.org/amcl

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