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thank you for your reply in fact, what I want now is how to "build a map" Take a look in this page: http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM At the beginning I did run this step, but apparently after I made some changes in the gmapping_demo.launch file and now I am unable to recover the original file. So, I would be grateful if you send to me the content of the original file (apparently in this file there is the gmapping and the move_base files with parameters of local_costmap ,global_costmap...).

Really i spent more than one month in this step, unable to advance ,although I have already done that before :( but because of the changes that I made ,it doesn't work :(

thank you very much