Hi abhy,

First, I think it is not good to run AMCL and GMapping together, Please
check this thread:
http://ros-users.122217.n3.nabble.com/Some-questions-over-gmapping-map-server-and-AMCL-and-using-them-together-if-possible-td1056438.html

AMCL is used to localize the robot within the pre-created map, while
gmapping is for creating a map. It seems that there will be some conflict if
you run them at the same time. 

For your first scenario, have you followed the tutorial about using rviz for
navigation
package?(http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack)
You need to give a estimated original pose of the robot in your map first.
It will take time to converge. The turning of your robots may be due to the
clearing rotation, please check http://www.ros.org/wiki/move_base 

Chris
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