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The wiki page for AMCL gives a good start: http://www.ros.org/wiki/amcl

You'll need to provide: - 'scan', your laser scan - 'tf' - transform topic which amongst other things should show the relationship between the robot base and laser. And also the robot odometry. - 'map' - the topic to query to get the map. Use the map server to load a map you've saved already.

If those topics are in place, you should be able to get started by just typing: rosrun amcl amcl in a console.