Revision history [back]

Generally 4-wheel-robot localization only based on the odometry will lead to big errors. Actually, you have two too many wheels, which you take along "only for stability", to put it somewhat exaggeratedly.

This redundancy leads to this "uncontrolable" form of skid steering, which generates some slippage with your wheels. Since you can't track exactly how much the wheels have slid over somewhere, the more you drive, the more your error will increase.

To get better results, you could combine sensor data, like odometry, imu, ... with the robot_localization package. You could also think about generating a map based on your laser scans and integrate that.