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To answer to myself, slam_gmapping works with the clock, that means you have to publish to /clock, if not, nothing happens. Now, /tf of /map->/odom publishes 000 and 0001 for the rotation, but when I use slam_gmapping, it publishes nan values only. I think it is related to the first frame who has nan values : update ld=-nan ad=nan Laser Pose= -nan -nan -nan But I don't know why. What is ld? Laser Pose? How can I change this values?