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The gmapping package requires you to publish the transform from your camera_link to your base_link as well as odometry data, see http://wiki.ros.org/gmapping#Required_tf_Transforms. You would need to set this up before using gmapping.

Alternatively, you can use the hector_mapping package, which does not require odometry.

The gmapping package requires you to publish the transform from your camera_linksensor_link to your base_link , as well as provide odometry data, see http://wiki.ros.org/gmapping#Required_tf_Transforms. data. See here. You would need to set this up before using gmapping.

Alternatively, you can use the hector_mapping package, which does not require odometry.

The gmapping package requires you to publish the transform from your sensor_link sensor link to your base_link, as well as provide odometry data. See here. You would need to set this up before using gmapping.

Alternatively, you can use the hector_mapping package, which does not require odometry.

Both packages require you to have a transform between the link that is getting the laser data and your base_link. This is accomplished with a URDF + robot_state_publisher, or a tf static_transform_publisher.

The gmapping package requires you to publish the transform from your sensor link to your base_link, as well as provide odometry data. See data (see here. ). You would need to set this up before using gmapping.

Alternatively, you can use the hector_mapping package, which does not require odometry.

Both packages require you to have a transform between the link that is getting the laser data and your base_link. base link/frame. This is accomplished with a URDF + and robot_state_publisher, or a tf static_transform_publisher.