AMCL drift rotation

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Before integrating with AMCL I would suggest to take a look at section 1 on the Navigation Stack Troubleshooting page, this will make sure that you are estimating the odometry correctly:

1. Is My Odometry Good Enough for AMCL Problem: The robot doesn't seem to be localized properly. Its position estimate jumps around a lot in rviz and the navigation stack doesn't seem able to follow the plans produced by the global planner. Is this a problem with AMCL or my robot's odometry.

Solution: There are a couple of tests that are helpful to run to see how good the odometry of a robot is:

Test 1: Open up rviz and make sure that you're subscribed to the laser scan topic for your robot. Next, set the decay time to something like 30 seconds. Also set the fixed frame to the odom frame. Perform an in-place rotation with the robot and look at the laser scans. If odometry is fairly accurate, you should see scans from the previous rotation overlap with those generated on the current rotation. You'll want to do this in an area where you have distinctive features in your laser scan.

Test 2:Set up rviz the same way as the previous test. Point the robot at a wall and drive it towards it. With good odometry, the wall should stay in about the same place as the robot moves towards it. If you see a lot of movement in the positions of the scans relative to the wall that means odometry is poor.

Test 3: Drive the robot straight down a hallway. The laser scans of the hallway should stay straight. If you see them move a lot, it means your odometry is poor.