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I have a simple solution for that. First we need to filter to our LidarScan inf values to a range value (e.g 5). and than set this filter scan as a parameter to gmapping.

this is my gmapping node parameters

<launch>
<node pkg="gmapping" type="slam_gmapping" name='gmapping_node' output='log'>

    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="odom"/>
    <param name="delta" value="0.02"/>
    <param name="xmin" value="-25"/>
    <param name="ymin" value="-25"/>
    <param name="xmax" value="25"/>
    <param name="ymax" value="25"/>
    <param name="map_update_interval" value="1"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="0.1"/>
    <param name="particles" value="50"/>
    <param name="maxUrange" value="3.4"/>
    <param name="maxRange" value="3.6"/>
    <remap from="scan" to="/scan_filtered"/>

</node>

<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
  <rosparam command="load" file="$(find robot_navigation)/config/lidar_config.yaml"/>
  <remap from="base_scan" to="scan"/>
</node>  </launch>

and this is my lidar_scan.yaml

scan_filter_chain: - name: range type: laser_filters/LaserScanRangeFilter params: use_message_range_limits: false lower_threshold: 0.2 upper_threshold: 3.5 lower_replacement_value: -.inf upper_replacement_value: 3.5

dont forget to ramap with

<remap from="scan" to="/scan_filtered"/>

I have a simple solution for that. First we need add below parameters to filter to our LidarScan inf values to a range value (e.g 5). and than set this filter scan as a parameter to gmapping.

this is my gmapping node parametersyour costmap_common_params.yaml

<launch>
<node pkg="gmapping" type="slam_gmapping" name='gmapping_node' output='log'>

    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="odom"/>
    <param name="delta" value="0.02"/>
    <param name="xmin" value="-25"/>
    <param name="ymin" value="-25"/>
    <param name="xmax" value="25"/>
    <param name="ymax" value="25"/>
    <param name="map_update_interval" value="1"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="0.1"/>
    <param name="particles" value="50"/>
    <param name="maxUrange" value="3.4"/>
    <param name="maxRange" value="3.6"/>
    <remap from="scan" to="/scan_filtered"/>

</node>

<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
  <rosparam command="load" file="$(find robot_navigation)/config/lidar_config.yaml"/>
  <remap from="base_scan" to="scan"/>
</node>  </launch>
obstacle_layer: {enabled: true, lethal_cost_threshold: 100, track_unknown_space: true, unknown_cost_value: -1}

add below parameters to your costmap_common_params.yaml

obstacle_layer: {enabled: true, lethal_cost_threshold: 100, track_unknown_space: true, unknown_cost_value: -1}

<launch>
<node pkg="gmapping" type="slam_gmapping" name='gmapping_node' output='log'>

    <param name="base_frame" value="base_link"/>
    <!--param name="base_frame" value="link_chassis"/-->
    <param name="odom_frame" value="odom"/>
    <param name="delta" value="0.02"/>
    <param name="xmin" value="-25"/>
    <param name="ymin" value="-25"/>
    <param name="xmax" value="25"/>
    <param name="ymax" value="25"/>
    <param name="map_update_interval" value="1"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="0.1"/>
    <param name="particles" value="50"/>
    <param name="maxUrange" value="3.4"/>
    <param name="maxRange" value="3.6"/>
    <remap from="scan" to="/scan_filtered"/>

</node>

<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
  <rosparam command="load" file="$(find robot_navigation)/config/lidar_config.yaml"/>
  <remap from="base_scan" to="scan"/>
</node>

obstacle_layer: {enabled: true, lethal_cost_threshold: 100, track_unknown_space: true, unknown_cost_value: -1}

okay. my solution is filtering inf values to maxRange. this is my gmapping.launch file.

<launch>
<node pkg="gmapping" type="slam_gmapping" name='gmapping_node' output='log'>

    <param name="base_frame" value="base_link"/>
    <!--param name="base_frame" value="link_chassis"/-->
    <param name="odom_frame" value="odom"/>
    <param name="delta" value="0.02"/>
    <param name="xmin" value="-25"/>
    <param name="ymin" value="-25"/>
    <param name="xmax" value="25"/>
    <param name="ymax" value="25"/>
    <param name="map_update_interval" value="1"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="0.1"/>
    <param name="particles" value="50"/>
    <param name="maxUrange" value="3.4"/>
    <param name="maxRange" value="3.6"/>
    <remap from="scan" to="/scan_filtered"/>

</node>

<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
  <rosparam command="load" file="$(find robot_navigation)/config/lidar_config.yaml"/>
  <remap from="base_scan" to="scan"/>
</node>

</launch>

and this is my lidar_config.yaml file:

scan_filter_chain: - name: range type: laser_filters/LaserScanRangeFilter params: use_message_range_limits: false lower_threshold: 0.2 upper_threshold: 3.5 lower_replacement_value: -.inf upper_replacement_value: 3.5

it works for marking free spaces to map. dont forget to filter your laser sacan with laser_filters pkg.