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@stefan - thanks for the info but amcl dosent work with the constant zero odometry too , but im trying to use laser scan matcher to provide odometry. im already implementing an optical flow algorithm for localization and stability, i need amcl just to cross check with the map as i need precise co-ordinates and optical flow does have error which can pile up as time goes on. If u do have something that can help me with map reading can u please help me , just in case amcl dosent work with laser scan matcher

@tfoote - thanks for letting me know , im new to this forum , and wont make such a mistake again