Eitan,

Thanks for your prompt reply. 
I also feel localization is not working well.

As you suggested, I tested AMCL with just a joystick, and observed in rviz
that the localization is not reasonable, i.e., the laser scan deviate a lot
from map.

More details about the testing:

Odom is used both fixed and target frames;
for AMCL, the example amcl_omni.launch file under navigation stack is used:
  <!--- Run AMCL -->
  <include
file="/opt/ros/boxturtle/stacks/navigation/amcl/examples/amcl_omni.launch"
/>

whose content is listed here:

<launch>
<node pkg="amcl" type="amcl" name="amcl">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  
  
  
  
  
  
  
  
  
  
  
  <!-- translation std dev, m -->
  
  
  
  
  
  
  
  
  
  
  <!--  -->
  
  
  
  
  
  
  
  
</node>
</launch>




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