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Hello, are you still working on this? I found the answer of this question. It seems like the bag file in the tutorials is incomplete, and I found the complete file in a Github repo.

When I use this bag file, there is no error or warning, and the produced map is just like that picture in the tutorials.

https://github.com/MST-Robotics/MST_ROS_Catkin_Packages/blob/master/basic_localization_stage.bag

Hope it can solve your problem, good luck!

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