Pioneer 3dx is starting changing position when ros_base_local_planner and amcl are launched.

Hi ! I have a really big problem with ros_base_local planner configuration. When I launch the move_base.launch file and launch 'AMCL' node the module stars to jumping between couple position on the mp in the RVIZ but in gazebo is stable. Below I included my [rqt_graph](http://pics.tinypic.pl/i/00793/wvjvxwvb41uw.png) and [tf_frames_view](http://images.tinypic.pl/i/00793/knnfdc095ahv.png) In my opinion everything looks quite good. Below I've attached my launch file for starting the whole simulation with pioneer in it: here I attached the amcl launch file: Below I attached the logs from starting the amcl node: ... logging to /home/wasiel13/.ros/log/d8dbce92-2cfd-11e6-b354-0cd292ad4094/roslaunch-wasiel13-5712.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://wasiel13:43959/ SUMMARY ======== PARAMETERS * /amcl/base_frame_id: /base_link * /amcl/global_frame_id: /map * /amcl/gui_publish_rate: 10.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 2.0 * /amcl/laser_max_beams: 60 * /amcl/laser_max_range: 12.0 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.5 * /amcl/laser_z_max: 0.05 * /amcl/laser_z_rand: 0.5 * /amcl/laser_z_short: 0.05 * /amcl/max_particles: 2000 * /amcl/min_particles: 500 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.2 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: /odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.0 * /amcl/recovery_alpha_slow: 0.0 * /amcl/resample_interval: 1 * /amcl/transform_tolerance: 1.0 * /amcl/update_min_a: 0.2 * /amcl/update_min_d: 0.25 * /amcl/use_map_topic: True * /rosdistro: indigo * /rosversion: 1.11.19 NODES At the end I launch the move_base.launch file: And below logs from launching move_base.launch: ... logging to /home/wasiel13/.ros/log/d8dbce92-2cfd-11e6-b354-0cd292ad4094/roslaunch-wasiel13-6122.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://wasiel13:45669/ SUMMARY ======== PARAMETERS * /initial_pose_a: 0) * /initial_pose_x: 0 * /initial_pose_y: -55 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2 * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5 * /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5 * /move_base/TrajectoryPlannerROS/escape_vel: -0.2 * /move_base/TrajectoryPlannerROS/gdist_scale: 1.0 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325 * /move_base/TrajectoryPlannerROS/holonomic_robot: False * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.5 * /move_base/TrajectoryPlannerROS/meter_scoring: True * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4 * /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.0 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.8 * /move_base/TrajectoryPlannerROS/sim_time: 1.7 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.25 * /move_base/global_costmap/cost_scaling_factor: 5.0 * /move_base/global_costmap/footprint: [[0.2, 0.2], [0.2... * /move_base/global_costmap/global_frame: /map * /move_base/global_costmap/inflation_radius: 1.5 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/expected_update_rate: 0.3 * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/sensor_frame: hokuyo_link * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_range: 2.5 * /move_base/global_costmap/publish_frequency: 1.0 * /move_base/global_costmap/raytrace_range: 3.0 * /move_base/global_costmap/robot_base_frame: base_link * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.6 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 2.0 * /move_base/local_costmap/footprint: [[0.2, 0.2], [0.2... * /move_base/local_costmap/global_frame: /odom * /move_base/local_costmap/height: 1.5 * /move_base/local_costmap/inflation_radius: 1.5 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/expected_update_rate: 0.3 * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/sensor_frame: hokuyo_link * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_range: 2.5 * /move_base/local_costmap/publish_cost_grid: True * /move_base/local_costmap/publish_frequency: 2.0 * /move_base/local_costmap/raytrace_range: 3.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_link * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.6 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 1.5 * /rosdistro: indigo * /rosversion: 1.11.19 NODES / map_odom_broadcaster (tf/static_transform_publisher) move_base (move_base/move_base) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[map_odom_broadcaster-1]: started with pid [6140] process[move_base-2]: started with pid [6141] [ INFO] [1465338536.747346916, 1141.964000000]: Loading from pre-hydro parameter style [ INFO] [1465338536.886055070, 1141.983000000]: Using plugin "static_layer" [ INFO] [1465338537.199380461, 1142.032000000]: Requesting the map... [ INFO] [1465338537.870436894, 1142.160000000]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix [ INFO] [1465338538.263378800, 1142.232000000]: Received a 4000 X 4000 map at 0.050000 m/pix [ INFO] [1465338538.276843246, 1142.232000000]: Using plugin "obstacle_layer" [ INFO] [1465338538.312650459, 1142.234000000]: Subscribed to Topics: laser_scan_sensor [ INFO] [1465338538.437448155, 1142.247000000]: Using plugin "inflation_layer" [ INFO] [1465338540.130721048, 1142.463000000]: Loading from pre-hydro parameter style [ INFO] [1465338540.273190015, 1142.471000000]: Using plugin "obstacle_layer" [ WARN] [1465338540.378793311, 1142.489000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2150 seconds [ INFO] [1465338540.558829527, 1142.512000000]: Subscribed to Topics: laser_scan_sensor [ INFO] [1465338540.668099673, 1142.519000000]: Using plugin "inflation_layer" [ INFO] [1465338541.288712550, 1142.606000000]: Created local_planner base_local_planner/TrajectoryPlannerROS [ INFO] [1465338541.346774972, 1142.613000000]: Sim period is set to 0.05 [ WARN] [1465338541.891773627, 1142.674000000]: The scan observation buffer has not been updated for 0.44 seconds, and it should be updated every 0.30 seconds. [ INFO] [1465338542.480809021, 1142.786000000]: Recovery behavior will clear layer obstacles [ INFO] [1465338542.720759655, 1142.812000000]: Recovery behavior will clear layer obstacles [ INFO] [1465338543.095704390, 1142.856000000]: odom received! As you can see I get two WARNINGS: [ WARN] [1465338540.378793311, 1142.489000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2150 seconds [ WARN] [1465338541.891773627, 1142.674000000]: The scan observation buffer has not been updated for 0.44 seconds, and it should be updated every 0.30 seconds. This warning could have effect on the robot behaviour? I can see particle clound in the rviz, odometry seems OK, but when I enable TF view in RVIZ I can see that the map coordinates are ok i the place 0,0,0 but the odom coordinates are far away from the robot operatin area. Robots i jumping between the 0,0 position and position set in gazebo...Of coure when i run the move base the path planner is able to define corret path but robot is turining in all direction and it is unable to reach the goal position. Could you please tell me how to fix this problem? I've provided all steps according to tutorial How to set up ros_base_local planner. Maybe I sent the initial_position coordinates to amcl wrong way? But then why the odom coordinates when I enable tf view in RVIZ are out of the map?