Hi, I am trying to just localize my robot with amcl. I have a YDLidarX2L publishing to "scan" but i keep getting

No laser scan received (and thus no pose updates have been published) for 1643915311.541232 seconds. Verify that data is being published on the /scan topic.

I've read that AMCL is supposed to publish map->odom given the tf transform between frameid of "scan" topic and baseframeid? Am I supposed to edit my urdf to include odom? Or do I use something like robotlocalization to publish a map->odom->base_link/footprint for AMCL to use?

The output of rosrun rqt_tf_tree rqt_tf_tree has map -> basefootprint -> baselink -> lidar_link But no map->odom after running AMCL

This is my launch file:

<launch>
  <!-- Arguments -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- AMCL -->
  <node pkg="amcl" type="amcl" name="amcl" output="screen">
    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>
    <param name="use_map_topic"             value="true"/>

    <param name="odom_model_type"           value="omni-corrected"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_alpha5"               value="0.1"/>
    <param name="odom_frame_id"             value="odom"/>
    <param name="base_frame_id"             value="base_footprint"/>
    <param name="global_frame_id"           value="map"/>
    <param name="tf_broadcast"              value="true"/>

  </node>
</launch>