Hi, looking for guidance on how to correct issue on Ubuntu 14.04 with Jade, running the navigation stack.

I can get the navigation stack running and the robot sometimes makes it to the goal. Other times I see the cost map on RVIZ flash off, then within one second or so the particle cloud completely diverges and the new location of the robot jumps to the closest particle and localization is failed.

I am seeing an error in the log file and I suspect (but haven't confirmed) the error correlates with the local costmap disappearing but wouldn't know if the error is caused by the missing costmap or the error is what causes the costmap to go missing. The costmap reappears on RVIZ right after the robot has jumped.

[rosmaster.master][INFO] 2016-06-12 23:36:32,462: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:32,464: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:32,465: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:32,466: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,548: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,549: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,551: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,553: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,554: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,555: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,820: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,821: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,823: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,826: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,827: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,828: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,868: -PUB [/rosout] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,870: -PUB [/cmd_vel] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,870: -PUB [/move_base/current_goal] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,872: -PUB [/move_base/goal] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,873: -PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,877: -PUB [/move_base/global_costmap/static_layer/parameter_updates] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,879: -PUB [/move_base/global_costmap/obstacle_layer/parameter_descriptions] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,880: -PUB [/move_base/global_costmap/obstacle_layer/parameter_updates] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,881: -PUB [/move_base/global_costmap/inflation_layer/parameter_descriptions] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,883: -PUB [/move_base/global_costmap/inflation_layer/parameter_updates] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,886: -PUB [/move_base/global_costmap/footprint] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,888: -PUB [/move_base/global_costmap/costmap] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,890: publisherUpdate[/rosout] -> http://linux-Latitude-D630:42628/
[rosmaster.master][INFO] 2016-06-12 23:36:34,891: publisherUpdate[/cmd_vel] -> http://linux-Latitude-D630:41927/
[rosmaster.master][INFO] 2016-06-12 23:36:34,892: publisherUpdate[/move_base/goal] -> http://linux-Latitude-D630:41235/
[rosmaster.threadpool][ERROR] 2016-06-12 23:36:34,893: Traceback (most recent call last):
  File "/opt/ros/jade/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/jade/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
    xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1306, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1482, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 794, in close
    raise Fault(**self._stack[0])
Fault: 

In the case of the error shown, the robot had made it to the goal and back to a second goal and was in process of going to a third goal when the error occurred. I can't tell by looking at the error what it is trying to say.

Is there a way to tell AMCL node not to localize and trust odom if costmap is lost or particle cloud is too broad? Is this issue familiar to any of you? I can post video of the screen when this happens in if helps.