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AMCL generally needs 4 things at a minimum: a published map (default topic map), a laserscan source (default topic scan), valid odometry tf (default base_link to odom, and the freedom to create the transform from odom to map. The last part is important because a frame can only have one parent.

This is outside all the internal algorithm parameters. It looks like you have all the essentials setup tf wise. Can you verify that scan and map topics are published properly? Have you tried turning on debug messages for amcl?

AMCL amcl generally needs 4 things at a minimum: a published map (default topic map), map), a laserscan source (default topic scan), scan), valid odometry tf (default base_link to odom, base_link->odom, and the freedom to create the transform from odom to map. odom->map. The last part is important because a frame can only have one parent.

This is outside all the internal algorithm parameters. It looks like you have all the essentials setup tf wise. wise.

• Can you verify that scan and map topics are published properly?
• If topics from STDR are being pushed down into namespaces, make sure to change the appropriate topics in amcl (post the output of rostopic list, and check rosnode info amcl to make sure it's subscribing correctly).
• Have you tried turning on debug messages for amcl?amcl?

For the costmap error, are you also running move_base? You should disable it for now and see if you can get localization (amcl) working properly first.