Pioneer 3dx is starting changing position when ros_base_local_planner and amcl are launched.

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Hi ! I have a really big problem with ros_base_local planner configuration. When I launch the move_base.launch file and launch 'AMCL' node the module stars to jumping between couple position on the mp in the RVIZ but in gazebo is stable. Below I included my rqt_graph and tf_frames_view

In my opinion everything looks quite good. Below I've attached my launch file for starting the whole simulation with pioneer in it:

    <launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find gazebo_worlds)/worlds/Factory_World.world"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>


  <!-- No namespace here as we will share this description. 
       Access with slash at the beginning -->
  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
     command="$(find xacro)/xacro.py '$(find pioneer_description)/urdf/pioneer3dx.xacro'" />

  <!-- BEGIN PIONEER 1-->


    <include file="$(find pioneer_description)/launch/one_pioneer.launch" >
      <arg name="init_pose" value="-x 0 -y -55 -z 0" />

    </include>

  <param name="/use_sim_time" value="true"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find gazebo_worlds)/maps/FactoryWorld.yaml" >
    <param name="frame_id" value="/map" />
  </node>
    <param name="robot_description"
    command="$(find xacro)/xacro.py '$(find pioneer_description)/urdf/pioneer3dx.xacro'" />

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/pioneer.rviz"/>



</launch>

here I attached the amcl launch file:

<launch>


  <node pkg="amcl" type="amcl" name="amcl" output="screen">
    <param name="use_map_topic" value="true"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
        <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="base_frame_id" value="/base_link"/> 
    <param name="odom_frame_id" value="/odom"/> 
    <param name="global_frame_id" value="/map"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1 ...