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AMCL only publishes a transform when the robot has moved a certain distance in the odom frame. It determines the distance the robot has moved by using the BaseLink - Odom TF.
I don't think there is any easy way to change this behavior in AMCL. In the long run, you won't want to. The robot control precision is likely to be disappointing without a fast-updating BaseLink-Odom transform.
If you have sensors on your robot that will let you compute some sort of odometry data (eg, an IMU or wheel encoders) I'd strongly encourage you to use them.
If you don't have those sensors, I'd publish the baselink-odom transform based on your best guess (dead reckoning). For instance, if you've sent the robot a cmd_vel to move in x direction at .1 m/s, you could publish a baselink-odom transform that updates the x position by 1 cm every 10 ms.
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