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Thank you very much for this forum. I have found the solution searching on it.

I have found it:

http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

and now everything is working properly.

But I know we are going to need a lot of help, for this reason, if you want to participate in our project it would be fantastic.

We want to do a robot who can guide people inside our school. We are going to create the map and after that we will mark some places where the robot can guide you.

It would be fantastic to improve a conversational system but firstly the first.

Thank you again.

Regards