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There is no way you can do that without actual/simulated data. But, since you already have the laser data, the odometry data should be from the same 'run' as the laser data. That is, both should be in phase (or in time).

So without the odometry data I don't think you can use amcl. If you have odometry data on the topic say /odom. Then the rest is simple: write a node that reads the /odom topic and publishes whatever it reads on the odom topic as a transform from odom - base_link.

Look at this: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom

The only difference is you don't have to compute x, y and theta. They are already available in the odom message.