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You need to publish a map frame. If I'm correct, your problem is that AMCL is looking for the /map frame when it loads your static map from the map_server. In order to resolve this problem, you must either set the frame_id of your map_server to /odom or publish the /map frame as a parent frame to /odom.

<node name="map_node" pkg="map_server" type="map_server" args="$(find my_package)/config/map.yaml" respawn="false">
    <param name="frame_id" value="/odom" />
</node>