Hi,
I was following the [tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup) to set up the Nav Stack on a robot, but at the end I got pretty bad results in Rviz. Somehow I got the scans to be accumulated on the screen, and the particles were not moving good.
I just mapped on wall of the room for performance and speed purposes. The particles got initialized well, but the center of the robot didn't.
When I moved around the scans got accumulated, not like the turtlebot_navigation tutorial.
This is something I would expect to have
What I might be doing wrong?
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