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It is a bit trickier than just remapping odom topic to your new_odom topic, because amcl uses tf instead of odom. You will have to:

1. Disable transform from odom to base_link published by turtle bot (by remapping tf topic. Something like this would work: http://answers.ros.org/question/229722/how-to-stop-gazebo-publishing-tf/)
2. Create a node to publish transform from odom to base_link using your new odom data (follow this tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom)

After you have done all these, you should check if tf tree is correct by running view_frames

It is a bit trickier than just remapping odom topic to your new_odom topic, because amcl uses tf instead of odom. You will have to:

1. Disable transform from odom to base_link published by turtle bot (by remapping tf topic. Something like this would work: http://answers.ros.org/question/229722/how-to-stop-gazebo-publishing-tf/)
2. Create a node to publish transform from odom to base_link using your new odom data (follow this tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom)

After you have done all these, you should check if tf tree is correct by running view_frames

It is a bit trickier than just remapping odom topic to your new_odom topic, because amcl uses tf instead of odom. You will have to:

1. Disable transform from odom to base_link published by turtle bot (by remapping tf topic. Something like this would work: http://answers.ros.org/question/229722/how-to-stop-gazebo-publishing-tf/)
2. Create a node to publish transform from odom to base_link using your new odom data (follow this tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom)

After you have done all these, you should check if tf tree is correct by running view_framesfollowing http://wiki.ros.org/tf#view_frames