To take advantage of AMCL, we need to "tell" it to use our sensors. The following code should be added to nav2_params.amcl (a complete file is available in the archive by the link above):
amcl:
ros__parameters:
...
plugin: "nav2_amcl/AMCL"
use_odometry: true
# Odometry parameters
odom_frame_id: "odom"
odom_topic: "/odom"
base_frame_id: "base_link"
# Global frame
global_frame_id: "map"
# Laser parameters
laser_frame_id: "laser"
laser_topic: "/scan"
use_scan_matching: True
scan_matcher_translational_weight: 0.1
scan_matcher_rotational_weight: 0.2
# IMU parameters
use_imu: True
imu_frame_id: "imu"
imu_topic: "/imu/data"
# Camera parameters
use_camera: True
camera_frame_id: "camera"
camera_topic: "/camera/image_raw"
As you can see, we are simply listing sensors and topics to use.