Wrong localization using AMCL and move_base

Hi all, I am currently trying to set up the robot to navigate a known map using move_base. The global and local planners are set as follows: The start pose of the robot is determined using amcl. However, there is an error in the localization result given by amcl. Then, I correct the robot's localization using the '2D pose estimate' function on RVIZ. However, when I give a goal to the robot, the robot thinks that it arrived at the goal when in fact it will be around 1.6m away from the goal. Here is a link with all the [pictures](https://drive.google.com/folderview?id=0B566VgsnBBE7bG5IbFJfcVNiM1E&usp=sharing) mentioned. In the link there is also a picture of the actual environment of the robot Is there any way to solve this? Thanks