error trimming in scan matching and amcl

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Hello everybody,

I am trying to make my robot localizing itself in a known area. With a pre-built map I want to use amcl for this aim, however, I don't have wheel odometry. In this way, I used the laser_scan_matcher package to create this odometry with the rplidar.

But I am facing some issues :

[ WARN] [1429886431.088875179, 47.800000000]: Error in scan matching

: before trimming, only 15 correspondences.

icp: ICP failed for some reason.

-

icp_loop: failed: after trimming, only 51 correspondences.

icp: ICP failed for some reason.

[ WARN] [1552782652.949929738]: Error in scan matching

you can see in this video what is happening and the way I have parametered it.

I use ros-melodic on ubuntu 18.04