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It seems you are navigating in an empy map? Why is that? In that case, AMCL will not be able to properly localize the robot as it does not have any reference.

Also, your TF tree regarding the camera seems a bit off. I would expect to see something like: camera_link -> camera_rgb_frame -> camera_rgb_optical_frame (meaning camera_link should be the parent of camera_rgb_frame and camera_depth_frame). But I guess your setup would work anyways, although it seems weird IMO.