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I am experiencing kind of the same problem. Sometimes my tf transformation /odom published from amcl does not exist. And I say sometimes because this is what is mostly frustrating me that sometimes it works properly and I get the transformation and others don't. This dynamic transformation should be done automatically by the amcl so I do not know what it could be happening or how to fix it. I remap also the topic from scan to kinect_narrow_scan and I do not recive any message in rviz although I see the info when I read it with a rostopic echo /kinect_narrow_scan exactly the same way as you.

When it is working properly and I run a rosrun tf tf_monitor I see the following:

(other frames) Frame: /odom published by /amcl Average Delay: 0.0081728 Max Delay: 0.0597752

But sometimes I don't have this transformation published and rviz has the message that no tf transform exists between /map and /odom. I have been with this for about a month and I am not able to find any solution. ¿How does acml set the transformation between /map and /odom? ¿any ideas?

Thank you all!