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You add this line in you amcl_diff/omni.launch file = " ". This is set to false by default in amcl_node.cpp. You can also add global_fame_id to /map and your odom_frame_id to your odometry topic (I think /odom) in the launch file. amcl_node.cpp has a inbuilt function to publish map to odom tf. It worked for me.

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