I cant receive map with ethzasl_icp_mapping

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Hi , I'm trying to implement occupancy_grid_builder 2D using a Laser Range Finder(lms-200), in a real-world situation. I'm using Ubuntu 12.10 with ROS Fuerte,but i cant receive the map in rviz (topic /point_map void) with this launch file :

<launch>

<node pkg="sicktoolbox_wrapper2" name="lms2xx" type="sicklms_2xx" output="screen"> </node>

<node name="mapper" type="mapper" pkg="ethzasl_icp_mapper" output="screen" &gt;="" <remap="" from="scan" to="/base_scan"/>

</node>

<node name="occupancy_grid_builder" pkg="ethzasl_icp_mapper" type="occupancy_grid_builder" output="screen">

</node> <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/>

</launch>