AMCL: No laser scan received

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I am trying to locate my robot in a given map with the AMCL package, but I'm getting an error No laser scan received (and thus no pose updates have been published) for x seconds despite the amcl node subscribing to the right scan topic (see rosgraph below) and laser data being published on the topic (verified with rviz).

I had a look into the source code for the AMCL package and saw a message filter waiting for the tf frames to become available (here in line 479). I noticed that in the tf tree (see below) the 'most recent transform' value for the transform `red/base_footprint' is 0. Has that maybe something to do with the error?

Update: Further investigations by altering the amcl node myself show that tf cannot transform red/base_scan to base_footprint: Couldn't transform from red/base_scan to base_footprint, even though the message notifier is in use. So this looks like a namespace problem.

Update 2: I solved the problems, one was the wrong tf namespace (i changed

<param name="base_frame_id"             value="base_footprint"/>

to

<param name="base_frame_id"             value="$(arg color)/base_footprint"/>

), the other was with the simulation timing, I chaned the code and may create a pull request.

My launchfile:

<launch>
    <arg name="model" default="burger"/>
    <arg name="first_tb3"  default="red"/>
    <arg name="second_tb3" default="green"/>
    <arg name="map_file" default="$(find [package_name]/maps/map_1.yaml" />

    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
    </include>

    <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)">

    <group ns="$(arg first_tb3)">
        <param name="robot_description" command="$(find xacro)/xacro --inorder $(find [package_name])/urdf/turtlebot3_$(arg model).urdf.xacro" />

        <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="50.0" />
        <param name="tf_prefix" value="$(arg first_tb3)" />
        </node>

        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -param robot_description" />

        <node pkg="amcl" type="amcl" name="amcl" output="screen">
            <!--Some params-->
            <param name="odom_frame_id"             value="odom"/>
            <param name="base_frame_id"             value="base_footprint"/>
            <param name="use_map_topic"             value="true" />
            <remap from="map"                       to="/map" />
        </node>
    </group>

    <group ns="$(arg second_tb3)">
        <param name="robot_description" command="$(find xacro)/xacro --inorder $(find [packae_name])/urdf/turtlebot3_$(arg model).urdf.xacro" />

        <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="50.0" />
        <param name="tf_prefix" value="$(arg second_tb3)" />
        </node>

        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -param robot_description" />
    </group>
</launch>

Rosgraph:

TF tree: