AMCL problems with gyro on turtlebot [closed]

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Hi! I have a gyro ADXRS613 that it gives me imu/data wrong! As soon as I turn it on, the angular velocity is not properly 0 but oscillates around the 0 and the values of the quaternion increase without the robot moves. If i remove the gyro, AMCL doesn't compute the orientation but update only the linear position. I would like to take the value from odom calculate by encoder (therefor from the topic "/odom"???) to use them to AMCL! How could i do this?