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Looks like AMCL is not running properly. Could you add the content of your roslaunch relaxed_astar test.launch file? Does it contain all of this?:

You must now bringup your turtlebot. You need to launch minimal.launch, 3dsensor.launch, amcl.launch.xml and move_base.launch.xml. Here is an example of launch file that can be used for this purpose.

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