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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.

http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData?action=AttachFile&do=view&target=basic_localization_stage.bag

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.

http://pr.willowgarage.com/data/gmapping/basic_localization_stage.bag

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