Revision history [back]

If you're using robot_localization in what I would refer to as a "local" mode (i.e. updating based on sensors for local state estimate as opposed to AMCL which gives global updates of drift), you would want to also likely include your encoder readings from the drivetrain to give it velocity information. Integrating acceleration is tough work and you're essentially throwing away "free" information given to you by the encoders to do your speed control.

That should help you get the most generic setup on line. If you have issues at this point, I think you need to take a look at your covariances and settings and tune til happy. There will be of course some drift, this is why AMCL exists, but should get you on a path.