Random position in AMCL with robot_localization

edit

Hello,

I have a problem in using AMCL package , The output position is totally random. When feeding the /initial_pose topic with current output of robot localization , the car is on the right position on the map. As shown in the next pic:

As soon as the car moves , Particles start to vastly spread out and randomly jump and the car never localize itself in a proper way again as shown in the video: amcl

I didn't investigate much at amcl parameters . But I suspect that I have a fundamental issue. Am I missing something? Here is my setup:

robot localization ( 1 local node): inputs: imu , wheel_odometry ( I put odometry child_frame_id as base_footprint and imu as i mu_link "fixed transfor to base_footprint" )

Sample Msgs:

IMU:

header: 
  seq: 25
  stamp: 
    secs: 1538665174
    nsecs: 779748916
  frame_id: "imu_link"
orientation: 
  x: -0.021728795831
  y: 0.0629217740198
  z: 0.934970575289
  w: 0.348423209804
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01]
angular_velocity: 
  x: 0.0010685628315
  y: 0.00427425132599
  z: 0.00747993982048
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 1.45088620605
  y: 1.59932670898
  z: 10.4099888184
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Wheel_Odom:

header: 
  seq: 1
  stamp: 
    secs: 1538665300
    nsecs: 997972965
  frame_id: "odom"
child_frame_id: "base_footprint"
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 9.0
      y: 0.0
      z: 0.0
  covariance: [1e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01]

Launch File:

<launch>  
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_loc" clear_params="true" output="screen">      
      <remap from="odometry/filtered" to="/odometry/filtered1" />
      <param name="frequency" value="5"/>
      <param name="sensor_timeout" value="0.3"/>
      <param name="map_frame" value="map"/>
      <param name="two_d_mode" value="true"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_footprint"/>
      <param name="world_frame" value="odom"/>
     <param name="use_control"       value="false"/>
      <param name="odom0" value="/rdwheel_odometry_new"/>
      <param name="imu0" value ...