Hello, I am trying to build a map using Hokuyo, i use robot Pioneer 3dx, gmapping, move_base and rviz . When i choose /scan of Hokuyo instead of chossing /pioneer/laser/scan in Laser Sensor in Rviz. There is error with laser, and i can not make a map.

I follow the tutorial such as: http://wiki.ros.org/gmapping, http://wiki.ros.org/navigation. It dose not work.

<?xml version="1.0" ?>

<!-- Set maxUrange < actual maximum range of the Laser --> <!-- make the starting size small for the benefit of the Android client's memory... -->

<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>

<!-- chargement du map avec mapserver --> <node name="mapserver" pkg="mapserver" type="mapserver" args="$(find urcapioneer2dnav)/maps/a.yaml" respawn="false" output="screen"/>

<!--- appel du AMCL -->

<!-- même fichier--> <!-- même fichier--> <!--remap from="/cmd_vel" to="$(arg cmd)" /-->

Please show me how can i build a map!