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Three comments after seeing your param settings:

1) As suggested in amcl wiki , set the odom_model_type to:

<param name="odom_model_type" value="diff-corrected"/>

we changed from "diff" to "diff-corrected" and experienced a significant improvement

2) You may also use more beams of the scan, it could improve the localization, obviously paying computational cost.

3) likelihood_field laser model only uses laser_z_hit and laser_z_rand. Setting both to 0.5, means you are weighting somehow equally randomness and map... I think you could trust a little more your map.

best

andreu

Three comments after seeing your param settings:

1) As suggested in amcl wiki , set the odom_model_type to:

<param name="odom_model_type" value="diff-corrected"/>

we changed from "diff" to "diff-corrected" and experienced a significant improvement

2) You may also use more beams of the scan, it could improve the localization, obviously paying computational cost.

3) likelihood_field laser model only uses laser_z_hit and laser_z_rand. Setting both to 0.5, means you are weighting somehow equally randomness and map... I think you could trust a little more on your map.

best

andreu