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Hi, I account a problem when I want to generate the map using rplidar+slam_gmapping. I post the launch file here and hope you could do me a favor to see where is wrong. I am new to ros. Thanks! By the way, I describe a virtual robot in a file with a real rplidar on it. I just want to get tf data from the virtual robot and get the real data from rplidar for the finally generating map. I am not sure whether this method is right or not. If not, how to generate tf and add tf for mapping? Thanks!

<launch>

<include file="$(find gazebo_ros)/launch/empty_world.launch"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;<="" node=""> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" &gt;="" <param="" name="publish_frequency" type="double" value="50.0"/> </node>

<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen"/>

<arg name="model"/>

<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode">
</node>

<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /odom /map 100"/>

<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">


<remap from="scan" to="base_scan"/> </node>

</launch>