Revision history [back]

As per the gmapping wiki page, gmapping only subscribes to tf, not to /odom.

You should make sure that your odometry node is publishing tf correctly (from your tf tree, it looks like it is), and that the frame parameters to gmapping are correct (from the wiki page, it looks like the defaults are correct for your system).

I suspect the problem here is that your laser scans aren't published in the correct frame; you can confirm by looking at the frame_id in the header of your published laser scans.

Notice how there are two disconnected trees in your TF view - one for most of your frames (map, odom, base_link, etc), and a separate tree with camera_link and the other Kinect frames. I suspect you just need to rename the scanner frame to camera_link in your URDF to connect the two trees.