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Had the same error when I first ran roslaunch turtlebot3_navigation.

You would need to install each of those packages required, for some reason, they don't come pre-installed with the ros installation.

You can install ros packages by running sudo apt install ros-<your-ros-version>-PACKAGE-NAME

In this case, you can run sudo apt install ros-<your-ros-version>-amcl to install amcl

...and sudo apt install ros-<your-ros-version>-move-base