amcl tuning for better localization [closed]

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Hi all,

I'm pretty desperate right now because I can't figure out where my mistake is. I hope someone can enlighten me.

When I try to localize my robot (while driving) the laserscan data moves with it (but it should stay on the obstacles in the static map I use). In detail: I set the robots pose with the "2D Pose Estimate". I drive towards a wall (using robot steering) and as the robot approaches the wall the laserscan data moves towards the robot. As a result of that the robot does not localize properly. Here are two screenshots of rviz for better visualization (before and after driving) Can anyone give me a hint into the right direction?

Any help would be appreciated!