AMCL "No laser scan received" error message even when required data is being published

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I am trying to setup Turtlebot simulation and navigation setup for multi-robot system. I have all the individual robot topics in a group so they get their appropriate namespaces. Ex. /turtle01/amcl_pose, /turtle01/scan, etc. I have created seperate tf trees for all the robots as well. The robots share a common map.

I am having a problem with the amcl node. AFAIK the amcl node will publish the map->odom tf link. When I run the amcl node, I get this error

[ WARN] [1513896260.323745414, 2886.280000000]: No laser scan received (and thus no pose updates have been published) for 2886.280000 seconds.  Verify that data is being published on the /turtle01/scan topic.

The topics are active and the data is getting published. Here is the output when I echo /turtle01/scan.

header: 
  seq: 43096
  stamp: 
    secs: 5676
    nsecs: 620000000
  frame_id: /turtle01/camera_depth_frame
angle_min: -0.521567881107
angle_max: 0.524276316166
angle_increment: 0.00163668883033
time_increment: 0.0
scan_time: 0.0329999998212
range_min: 0.449999988079
range_max: 10.0
ranges: [nan, nan, nan, nan, nan,...]
intensities: []

This is what I get when I print the output from rostopic info /turtle01/scan

Type: sensor_msgs/LaserScan

    Publishers: 
     * /turtle01/laserscan_nodelet_manager (http://192.168.1.111:38147/)

    Subscribers: 
     * /echo_192.168.1.111/turtle01/scan (http://192.168.1.111:32936/)
     * /turtle01/amcl (http://192.168.1.111:34047/)
     * /rviz (http://192.168.1.111:41689/)

I have added some changes to the amcl file as follows:

<param name="odom_frame_id"             value="turtle01_tf/odom"/>
<param name="base_frame_id"             value="turtle01_tf/base_footprint"/>
<param name="global_frame_id"           value="/map"/>
<param name="tf_broadcast"              value="true"/>
<param name="use_map_topic"             value="true"/>
<param name="tf_prefix"                 value="turtle01_tf"/>
<param name="initial_pose_x"            value="0"/>
<param name="initial_pose_y"            value="0"/>
<remap from="map" to="/map"/>

This is my output from view_frames.

I have been following this guide for the setup and I am editing the amcl_demo file to make changes to include multiple robots.

I have spent considerable time to debug this silly issue but had no success.

Also, since I wanted the fake laser to publish the scan under the namespace, I made some following changes.

   <!-- Fake laser -->
   <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
   <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
         args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
     <param name="scan_height" value="10"/>
     <param name="range_min" value="0.45"/>
     <param name="output_frame_id" value="/$(arg robot_name)/camera_depth_frame"/>
     <remap from="image" to="/$(arg robot_name)/camera/depth/image_raw"/>
   </node>