i'm using kinect laser data with gmapping package to create map but when i give fake odom data to it for example x+=1 each i sec and set odom frame to odom and child frame to "cameradepthframe" and in gmapping set the frames like this: if(!privatenh.getParam("baseframe", baseframe)) baseframe_ = "cameradepthframe"; if(!privatenh.getParam("mapframe", mapframe)) mapframe_ = "cameradepthframe"; if(!privatenh.getParam("odom_frame");

when i want to create map the map will turn around.

can any one helps?!