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I've seen this error even when there was nothing wrong with the laser message. I'd suspect on your tf tree. Check it with the rosrun tf view_frames

this line is wrong, it will conflict with the tf broadcast amcl will do, so just remove it: rosrun tf static_transform_publisher 0 0 0 0 0 0 map base_link 100

how are you providing the odometry to amcl?

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