Localization with tof camera

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At the moment i'm trying to use AMCL with a PMD PicoFlexx camera and octomap. The robot is a diff drive robot and upon running amcl with amcl_omni.launch, it seems to be able to localize the robot, but when planning a path with DWA, it wants to move sideways (which it can't). Upon using amcl in diff mode, it complains that no laser scans have been received and therefore cant give pose updates.

How can I make this work? I'm a little new to ROS.