gmapping not using odometry information

edit

We are using adept's p3-dx with a LMS-5XX LIDAR from SICK to try to have the robot navigate an office building. We are having trouble with gmapping's map creation. It seems the LIDAR information is used but the odometry is not. Here are the commands we ran in order:

on the adept robot:

roscore
rosrun rosaria RosAria _port:=/dev/ttyS0 _publish_aria_lasers:=true

on remote computer:

rosbag record /RosAria/lms5XX_1_laserscan /RosAria/pose /tf

drive around for a bit...

control-C

rosparam set use_sim_time true
rosrun gmapping slam_gmapping scan:=/RosAria/lms5XX_1_laserscan _odom_frame:=odom

(in new tab)

rosbag play log_just_created.bag

(wait for gmapping and bag to finish) (don't stop the gmapping process)

rosrun map_server map_saver

When we look at the map created, it looks like the odometry wasn't used. We'll post the image when we get the chance, but it looks like random lines coming from (almost) the same point.

Thanks!