Solved the localization problem using ACML in ROS

localization/where_am_i/my_robot/config/base_local_planner_params.yaml

@@ -0,0 +1,23 @@
+controller_frequency: 10
+
+TrajectoryPlannerROS:
+  max_vel_x: 1.0 #0.5
+  min_vel_x: -0.1 #0.01
+  max_vel_theta: 1.57 #1.5
+
+  min_in_place_vel_theta: 0.314
+
+  acc_lim_theta: 3.14
+  acc_lim_x: 2.0
+  acc_lim_y: 2.0
+
+  sim_time: 1.0
+
+  vx_samples: 5.0
+  vtheta_samples: 10.0
+
+  pdist_scale: 0.6 #0.6
+  gdist_scale: 0.8 #0.8
+  occdist_scale: 0.02
+
+  holonomic_robot: false

localization/where_am_i/my_robot/config/costmap_common_params.yaml

@@ -0,0 +1,14 @@
+map_type: costmap
+
+obstacle_range: 1.0 # 2.0
+raytrace_range: 2.0 # 3.0
+
+transform_tolerance: 0.2 # 0.0
+
+robot_radius: 0.3 # 0.0
+inflation_radius: 0.5 # 0.0
+cost_scaling_factor: 5.0
+
+observation_sources: laser_scan_sensor
+
+laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

localization/where_am_i/my_robot/config/global_costmap_params.yaml

@@ -0,0 +1,10 @@
+global_costmap:
+   global_frame: map
+   robot_base_frame: robot_footprint
+   update_frequency: 2.0
+   publish_frequency: 2.0
+   width: 20.0
+   height: 20.0
+   resolution: 0.05
+   static_map: true
+   rolling_window: false

localization/where_am_i/my_robot/config/local_costmap_params.yaml

@@ -0,0 +1,10 @@
+local_costmap:
+   global_frame: odom
+   robot_base_frame: robot_footprint
+   update_frequency: 5.0
+   publish_frequency: 5.0
+   width: 10.0
+   height: 10.0
+   resolution: 0.05
+   static_map: false
+   rolling_window: true

localization/where_am_i/my_robot/launch/amcl.launch

@@ -2,6 +2,12 @@
 
 <launch>
 
+	<rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+	<rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+	<rosparam file="$(find my_robot)/config/local_costmap_params.yaml" command="load" />
+	<rosparam file="$(find my_robot)/config/global_costmap_params.yaml" command="load" />
+	<rosparam file="$(find my_robot)/config/base_local_planner_params.yaml" command="load" />
+
 	<!-- Map Server -->
 	<arg name="map_file" default="$(find my_robot)/maps/map.yaml"/>
 	<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
@@ -13,9 +19,23 @@
 		<param name="base_frame_id" value="robot_footprint"/>
 		<param name="global_frame_id" value="map"/>
 
-		<!-- If you choose to define initial pose here -->
-		<param name="initial_pose_x" value="0.6"/>
-		<param name="initial_pose_y" value="-5.5"/>
+		<param name="transform_tolerance" value="0.5"/>
+
+		<!-- If you choose to define initial pose here  -->
+		<param name="initial_pose_x" value="-5.5"/>
+		<param name="initial_pose_y" value="0.6"/> 
+	</node>
+
+	<!-- Move Base -->
+	<node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
+		<param name="base_global_planner" value="navfn/NavfnROS" />
+		<param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
+
+		<rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+		<rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+		<rosparam file="$(find my_robot)/config/local_costmap_params.yaml" command="load" />
+		<rosparam file="$(find my_robot)/config/global_costmap_params.yaml" command="load" />
+		<rosparam file="$(find my_robot)/config/base_local_planner_params.yaml" command="load" />
 	</node>
 
 </launch>

localization/where_am_i/my_robot/maps/map.yaml

@@ -1,4 +1,4 @@
-image: map.pgm
+image: /home/sherlock/catkin_ws/src/my_robot/maps/map.pgm
 resolution: 0.01
 origin: [-15.0, -15.0, 0.0]
 occupied_thresh: 0.65

localization/where_am_i/my_robot/param/config.rviz

@@ -6,7 +6,6 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /LaserScan1
       Splitter Ratio: 0.5
     Tree Height: 355
   - Class: rviz/Selection
@@ -140,6 +139,32 @@ Visualization Manager:
       Transport Hint: raw
       Unreliable: false
       Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.30000001192092896
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: PoseArray
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /particlecloud
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -168,25 +193,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 17.623416900634766
+      Distance: 12.774062156677246
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.0069710928946733475
-        Y: 0.01926247403025627
-        Z: 0.012315455824136734
+        X: -0.006360713392496109
+        Y: -4.929800987243652
+        Z: 0.680770993232727
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7553980350494385
+      Pitch: 0.7053980827331543
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 6.028582572937012
+      Yaw: 0.1153959184885025
     Saved: ~
 Window Geometry:
   Displays:
@@ -207,4 +232,4 @@ Window Geometry:
     collapsed: false
   Width: 1200
   X: 67
-  Y: 32
+  Y: 27