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Stage publishes all the necessary tf data. The problem is likely that you don't have gmapping correctly configured (in particular, remapping the input scan topic). The navigation_stage package has example of using both gmapping and amcl with stage. For example, see this launch file.

Stage publishes all the necessary tf data. The problem is likely that you don't have gmapping correctly configured (in particular, remapping the input scan topic). The navigation_stage package has example of using both gmapping and amcl with stage. For example, see this launch file.