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Yes, you need to add your laser scanner to the tf tree. Otherwise, gmapping cannot process the sensor data.

There is the Universal Robot Description Format URDF for this. Check out the tutorials there is everything described.

Yes, you need to add your laser scanner to the tf tree. Otherwise, gmapping cannot process the sensor data.

There is the Universal Robot Description Format URDF for this. Check out the tutorials there is everything described.

Yes, you need to add your laser scanner to the tf tree. Otherwise, gmapping cannot process the sensor data.

There is the Universal Robot Description Format URDF for this. Check out the tutorials there is everything described.

EDIT

You need to start use robot_state_publisher to publish the transfrom base_link->scan (I would rather rename scan to laser_link or r2000_link or similar).

Then, you need to add this link name to the frame_id of the scan. This allows the tf library to handle sensor data correctly.

<param name="frame_id" value="/scan"/>

<param name="frame_id" value="scan_link"/>