turtlebot estimates wrong 2D pose on rviz when using amcl_demo

edit

Heres what I am trying to do: I am trying to basically create a SLAM map using a turtlebot and RPLIDAR A2 to get a slam map. After doing so I want to launch amcl_demo and use the orbecc astra and give it some points to navigate to on the map.

Heres whats happening:

The robot restimates its obstacles incorrectly, it will think that the wall is closer to it than it actually is. A lot of times it will go in a direction and think that its somewhere in the map which is way off from where it actually is.

I am using the turtlebot_navigation stack.

Could someone suggest me a way for the turtlebot to move slowly and get a more accurate 2 D pose estimate on the map??