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You can check: http://answers.ros.org/question/49204/using-amcl-without-wheel-odometry-only-laser-imu/ http://answers.ros.org/question/30124/amcl-without-using-odomedry-but-laser_scan_matcher-instead/

You can check: http://answers.ros.org/question/49204/using-amcl-without-wheel-odometry-only-laser-imu/ http://answers.ros.org/question/30124/amcl-without-using-odomedry-but-laser_scan_matcher-instead/check this and this.