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Your odom_alpha3 and odom_alpha4 values seem VERY high. See the description of those parameters on the AMCL wiki page, and also note that 0.2 is the default value.

Your ~~odom_alpha3~~ odom_alpha3 and ~~odom_alpha4~~ odom_alpha4 values seem VERY high. See the description of those parameters on the AMCL wiki page, and also note that 0.2 is the default value.

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