Hi all,

I am trying to simulate a car-like robot in gazebo for hector mapping and amcl navigation. When I try to record the map, the map does not build up but moves along with the robot. For better understanding I have uploaded 2 images: https://postimg.org/image/c34oos2u9/ https://postimg.org/image/9n2vaxkrl/

Does anyone know what may be the reason for that problem?

Thank you in advance!

Update:

This is how my tf-tree looks like: https://postimg.org/image/3n5ekgkih/. roswtf is giving me the following output:

WARNING The following node subscriptions are unconnected:
 * /hector_mapping:
   * /syscommand
 * /azcar_sim/obstacleStopperazcar_sim:
   * /azcar_sim/cmd_vel
 * /rviz_1472549092700612555:
   * /map_updates
   * /azcar_sim/lidar_points
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state

WARNING These nodes have died:
 * azcar_sim/urdf_spawnerazcar_sim-3