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The problem is solved when using the following gmapping tags <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
<remap from="/scan" to="/uav_1/scan"/> </node>

The problem is solved when using the following gmapping tags

  <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">     <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping"> 
  <param name="output_frame_id" value="/base_link"/>
     <remap from="/scan" to="/uav_1/scan"/> 
       <param name="map_frame" value="map" />
   <param name="_odom_frame" value="world" />
   <param name="_base_frame" value="/base_link" />
 <param name="_inverted_laser" value="false" />
  </node>