I've a problem with getting AMCL working.
I used hector_mapping for creating a map. during the hectormapping i recorded the /scan topic in a .bag file. The main goal is playing the bagfile with the /scan topic and then let ACML locate its position in the created map.

I know i need odometry data but i doenst have that yet. So for now the "odomframeid" == base_link. does that suggest there is no movement?

Can someone help me finding the problem? ACML is not finding its position so i dont get a pose.

Capture from rviz, laser data is coming in and map is loaded successfully:

My launchfile is as following:

<launch>
<param name="/use_sim_time" value="true"/>ros

<node pkg="rviz" type="rviz" name="rviz" />

<node pkg="tf" type="static_transform_publisher" name="base_link_to_sick"      args="0 0 0 0 0 0 base_link sicks300_expert_scan_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_odom"      args="0 0 0 0 0 0 base_link odom 100" />

<arg name="map_file" default="$(find SickS300)/maps/mymap.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

<!-- AMCL -->
<node name="amcl" pkg="amcl" type="amcl" output="screen" >
<remap from="scan" to="scan" />

        <!-- Overall filter parameters -->
        <param name="min_particles" value="500"/>
        <param name="max_particles" value="5000"/>
        <param name="kld_err" value="0.05"/>
        <param name="kld_z" value="0.99"/>
        <param name="update_min_d" value="0.2"/>
        <param name="update_min_a" value="0.2"/>
        <param name="resample_interval" value="1"/>
        <param name="transform_tolerance" value="0.2"/>
        <param name="recovery_alpha_slow" value="0.0"/>
        <param name="recovery_alpha_fast" value="0.0"/>
        <param name="gui_publish_rate" value="10.0"/>

        <!-- Laser model parameters -->
        <param name="laser_max_beams" value="30"/>
        <param name="laser_z_hit" value="0.5"/>
        <param name="laser_z_short" value="0.05"/>
        <param name="laser_z_max" value="0.05"/>
        <param name="laser_z_rand" value="0.5"/>
        <param name="laser_sigma_hit" value="0.2"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_model_type" value="likelihood_field"/>
        <param name="laser_likelihood_max_dist" value="2.0"/>

        <!-- Odometery model parameters -->
        <param name="odom_model_type" value="diff"/>
        <param name="odom_alpha1" value="0.2"/>
        <param name="odom_alpha2" value="0.2"/>
        <param name="odom_alpha3" value="0.8"/>
        <param name="odom_alpha4" value="0.2"/>

    <!--param name="odom_model_type" value="omni"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <param name="odom_alpha3" value="0.8"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="odom_alpha5" value="0.1"/-->

        <param name="odom_frame_id" value="base_link"/>
        <param name="base_frame_id" value="base_link"/>
        <param name="global_frame_id" value="map"/>

        <param name="initial_pose_x" value="0"/>
        <param name="initial_pose_y" value="0"/>
    </node>
</launch>

Also if i turn on pose in rviz i get this image. the pose does'nt update.

it is also broadcasting the tf transformation between the map and the base link, only the tf is not right.