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If you are playing back a bagfile, you should probably use simulated time. (the "no laser scan recieved for huge number of seconds" is probably an indicator of this.) To use sim time, you should set the "use_sim_time" parameter to true before starting AMCL:

rosparam set use_sim_time true

And when starting your bagfile, you should tell it to broadcast the clock (so that the current system time matches the timestamps on your messages being played):

rosbag play small.bag --clock

If you are playing back a bagfile, you should probably use simulated time. time, since the timestamps on the recorded and played back messages will not match the current system time (the "no laser scan recieved for huge number of seconds" is probably an a good indicator of this.) this). To use sim time, you should set the "use_sim_time" parameter to true before starting AMCL:

rosparam set use_sim_time true

And when starting your bagfile, you should tell it to broadcast the clock (so that the current system time matches the timestamps on your messages being played):

rosbag play small.bag --clock