AMCL: cannot match well, jumps crazily...

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I load the map (built by hector slam before) by map_server and my scan is in rosbag. When I play rosbag. The scan is in "scan" frame while the map is in "map" frame. How to solve the problem?

I know that I also need odometry. But I dont understand how can this get a tf tree? AMCL only provide odom->map. Its not enough to get scan->map.

I want to use AMCL to localize in the given map.

------------------------------------ update ----------------------------------------

Now the tf tree is right. But scan jumps a lot in the map, causing AMCL not able to work. Anyone has idea?

Here is my code sending tf(odom->base_link) based on odometry data.

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Pose.h>

void Posecallback(const nav_msgs::Odometry::ConstPtr & odom_msg)
{
    static tf::TransformBroadcaster br;
    tf::Transform odom2body;
    tf::Quaternion q(odom_msg->pose.pose.orientation.x,
                     odom_msg->pose.pose.orientation.y,
                     odom_msg->pose.pose.orientation.z,
                     odom_msg->pose.pose.orientation.w);

    odom2body.setOrigin(tf::Vector3(odom_msg->pose.pose.position.x,
                                    odom_msg->pose.pose.position.y,
                                    odom_msg->pose.pose.position.z));
//    q.setRPY(odom_msg->pose.pose.orientation.x,
//             odom_msg->pose.pose.orientation.y,
//             odom_msg->pose.pose.orientation.z,
//             odom_msg->pose.pose.orientation.w);
    odom2body.setRotation(q);
    br.sendTransform(tf::StampedTransform(odom2body,ros::Time::now(),"scanmatch_odom","base_link"));

}



int main(int argc, char ** argv )
{
    ros::init(argc,argv,"odom2base_TF");
    ros::NodeHandle n;
    ros::Subscriber odom_sub=n.subscribe("scanmatch_odom",50,&Posecallback);
    ros::spin();
    return 0;
}

the launch file is like this:

<launch>
<!--include file="/home/wbw/catkin_ws/src/navigation/robot_pose_ekf/launch/test.launch"/-->

<node name="map_server" pkg="map_server" type="map_server" args="/home/wbw/mydata/mymap.yaml"/>

<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="100"/>
  <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="odom_alpha1" value="2"/>
  <param name="odom_alpha2" value="2"/>
  <param name="odom_alpha3" value="2"/>
  <param name="odom_alpha4" value="2"/>
  <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_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="resample_interval" value="0.5"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
    <param name="odom_frame_id" value="scanmatch_odom"/>
    <param name="use_map_topic" value="true"/>
    <param name="initial_cov_xx" value="5.0*5.0"/>
    <param name="initial_cov_yy" value="5.0*5.0"/>
    <param name="initial_pose_x" value="0.0"/>
    <param name="initial_pose_y" value="0.0"/>

</node>

<node pkg ...