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I've solved part of the problem and I only get the first half of what I posted. It only happends that nobody is publishing at the topics Pose Array and Path. I set the gyro as false, because I don't have one, useing: rosparam set turtlebot_node/has_gyro false

What are this topics which I have the problem? I realised that when I run rviz the robot doesn't move arround the enviroment as it's suposed to do. What I mean is tat when I try to create a new map the robot only tourns and prints the map all at the same point so at the end I get a mess not a map. I think this has to do with one of the topics which is suposed to "know" where the turtlebot is.

What would you recomend me to cheeck to see why is nobody publishing?

Thanks