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I'm no expert on AMCL and even less on the laser model parameters, but you seem to have set them quite differently from the defaults. I'm not 100% sure how to interpret it, but is z_hit really supposed to be as low as 0.5? Maybe this could be the cause of the bad performance? What happens if you switch them back to the default values?

Calling the global_localization just puts particles all over the map. As you manually set the initial pose it is not needed.

You'll have to look up the equations for the different laser models. I didn't find much on google, but there's a book mentioned on the AMCL page. I've ordered it myself, hoping to learn how to properly set the parameters.

"Diff" and "omni" is whether your robot can move sideways. First is if not, second is if it can.