Hello guys I'm a very newbie user in the world of ROS been working with ROS for a month now. I'm working with turtlebot using the Kobuki base. Turtlebot came with an Astra 3d camera and I was able to map my house with gmapping and have it autonomously navigate while avoiding obstacles using amcl. So i decided to add a neato xv-11 laser/lidar. I installed the drivers and used the ROS wiki that shows how to add a lidar (Adding a lidar to the turtlebot using hectormodels (Hokuyo UTM-30LX) ). I was able to use gmapping to create a map. For some reason I cannot navigate using amcl. When I set the goal, the cost cloud is huge. I have attached the screen shot of rviz, the cost cloud square covers the entire bedroom. If I un-check cost cloud to see that section of the map and then define the goal, turtlebot runs into obstacles. I'm assuming because costcloud is unchecked in rviz. I can see the xv-11 scan in rviz. I have searched this forum and the internet and I cannot find anything. I cannot attach a file to this question, site says requires 5 points. I running Indigo on nvidia tegra tk1 board.

So my question is why is the cost cloud so huge that it covers the entire bedroom (bedroom being apporx 15feet X 15 feet)?