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Assuming that there aren't any error messages in the output of the commands you executed, one possible problem is trying to run at the same time the keyboard teleop with the move base node (which is launched in the amcl_demo.launch file). If you want to send goals to the robot using the 2D Nav Goal tool of RViz, you should stop the keyboard teleop node. Otherwise, it may conflict with the move base node when it tries to send velocity commands to the robot, which results in the robot not moving at all.
Also, I highly recommend you to have a look at this video, which shows how to easily reproduce the same steps you are trying to do. It will help you to better understand the whole process.
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