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With the current state of AMCL this is impossible. You would need to build something that merges the 2 scans before providing them to AMCL as input.

I'd say that it's unlikely for AMCL to be extended with features like this, as within the nav2 community the main stream idea is to replace AMCL with something more modern. You can find more info here: https://github.com/ros-planning/navigation2/issues/1391

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