Fisrt of all I am new on ROS framework so I start a new project that requires to build a map, for that I want to use the kinect sensor. So my problem is this.... I am building a custom robot, until this moment I haven't finished the construction of the robot, however I created a basic URDF file with the description of my robot to simulate it on RViz, I looking for mapping tutorials and I found some packages that can help me, but I am not sure how start, for example with 'gmapping' it requires odometry info, so I can't understand how to give that kind of information on a RViz simulation, I just want to see how the map start build on a live simulation over RViz using kinect sensor. Again I don know How start to do this. Could anyone help me or give me some searching source to accomplish that task? Thanks to ROS community