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When using diff-corrected, small numbers like 0.005 seem to be appropriate for odom_alpha.

You may try changing diff-corrected to diff or making odom_alpha1 to odom_alpha5 smaller to improve it.

http://wiki.ros.org/amcl#Parameters ...
https://answers.ros.org/question/227811/tuning-amcls-diff-corrected-and-omni-corrected-odom-models/

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