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Commands to build a map using slam_gmapping from logged bag $roscore

$rosparam set use_sim_time true

$rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link laser 100

$rosbag play --clock <your-ros-bag.bag>

For slam_gmapping you need tf and laserScan. after above commands, open a new terminal then execute $rostopic list

then look whether tf and laserScan are being published. if you see /scan then run $rosrun gmapping slam_gmapping scan:=scan

if you see /base_scan then run $rosrun gmapping slam_gmapping scan:=base_scan

to see map in rviz run $rosrun rviz rviz

then add a map then put topic /map

to save a map run $rosrun map_server map_saver -f map1

it will save a map named map1.pgm in current directory.

Let me know whether it works or not.