Revision history [back]

-- Updates in the response the comments and tips so far --

I have tried to run the data with _particles:=100 _linearUpdate:=0.1 _angularUpdate:=0.1 and got the following result:

Furthermore have I increased the number of particles to 500 and kept the updates at the default values. This gives the following result:

Apparently an increased particle count helps against rotational deviations while increased updates have little effect, seems strange.
To those who might be interested in the data, then the bag can be downloaded here. The topics are /odom and /base_scan while the erroneous data are on the topics /odom_error and /base_scan_error.

So far thanks a lot for your ideas and thoughts.