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A few things I noticed that may be causing your problem. Your velocity (twist in odom topic) seems quite high (-7m/s?). This does not match what you put in the yaml file (max_vel_x: 0.5). I suggest you review your calculation for the velocity and do a teleop check on your robot. eg, command robot to move at 0.1m/s. Check if odom twist gives 0.1m/s

You mentioned in your question you are using amcl. But the frames show /odom_map_broadcaster broadcasting map->odom. I suggest you read through to understand how to set up your robot for autonomous navigation