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The failing check in gmapping is here.

You have set your laser to have pitch roll angles, possibly violating this check. As it seems that your scanner is mounted planar, why do you not only use a yaw value? yaw is rotation around the z-Axis, which should be fine for your case.

The failing check in gmapping is here.

You have set your laser to have pitch roll angles, possibly violating this check. As it seems that your scanner is mounted planar, why do you not only use a yaw value? yaw is rotation around the z-Axis, which should be fine for your case.

<joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0.0 -0.040 0.2" rpy="1.5708 -1.5708 0"/>
    <parent link="Base_plate"/>
    <child link="hokuyo_link"/>
</joint>

<joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0.0 -0.040 0.2" rpy="0.0 0.0 3.14159"/>
    <parent link="Base_plate"/>
    <child link="hokuyo_link"/>
</joint>

The failing check in gmapping is here.

You have set your laser to have pitch roll angles, possibly violating this check. As it seems that your scanner is mounted planar, why do you not only use a yaw value? yaw is rotation around the z-Axis, which should be fine for your case.

So this

<joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
/>                                     <-- not used in fixed joints!
    <origin xyz="0.0 -0.040 0.2" rpy="1.5708 -1.5708 0"/>
    <parent link="Base_plate"/>
    <child link="hokuyo_link"/>
</joint>

should be something like this

<joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0.0 -0.040 0.2" rpy="0.0 0.0 3.14159"/>
    <parent link="Base_plate"/>
    <child link="hokuyo_link"/>
</joint>