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You need to first save your map after mapping with gmapping. And next you can use AMCL for robot pose estimation. example for save your map : http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData

after that process, you can use amcl launch file as add your map (with your map name) in launch file.

BUT you need to laser_scan_matcher again with amcl for good odometry

<node name="map_server" pkg="map_server" type="map_server" args="$(find rover_map)/launch/amcl_map.yaml" />
<node pkg="amcl" type="amcl" name="amcl" output="screen">

   <launch>
  <arg name="use_map_topic"   default="true"/>
  <arg name="initial_pose_x"  default="0.0"/>
  <arg name="initial_pose_y"  default="0.0"/>
  <arg name="initial_pose_a"  default="0.0"/>


<param name="odom_frame_id" value="odom_combined"/>
<param name="base_frame_id" value="base_footprint"/>
<param name="global_frame_id" value="map"/>
<param name="odom_model_type" value="diff"/>

<param name="transform_tolerance" value="0.5" />
<param name="gui_publish_rate" value="10.0"/> <!-- 5 -->
<param name="laser_max_beams" value="80"/>  <!-- 30 -->
<param name="min_particles" value="100"/>
<param name="max_particles" value="4000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.02"/> <!-- 0.2 -->
<param name="odom_alpha2" value="0.07"/> <!-- 0.2 -->
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.08"/> <!-- 0.8 -->
<param name="odom_alpha4" value="0.02"/> <!-- 0.2 -->
<param name="laser_max_range" value="5.6"/>
<param name="laser_z_hit" value="0.95"/>
<param name="laser_z_short" value="0.1"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.05"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.08"/>  <!-- 0.2 **0.15-->
<param name="update_min_a" value="0.18"/>  <!-- 0.5 **0.12-->

<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/> <!-- 0.1 -->
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>

<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="use_map_topic" value="$(arg use_map_topic)"/>

</node>
</launch>