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I probably solved this problem myself. I think that the cause is because the bagfile is wrong.

I got a rosbag file for gmapping from this site.

However, This bagfile (basic_localization_stage.bag) might be different from the ground truth map image (basic_localization_stage_ground_truth.png).

Therefore, I got a bagfile with the same name (basic_localization_stage.bag) from others.

In this case, gmapping and rosbag worked well. I could get a generated map like a ground truth map.