# Revision history [back]

That image is completely correct. You're not rendering the RobotModel in Rviz, I suggest you do by clicking Add -> RobotModel, it should appear in the center of that gray image. That is the area of the map that has been discovered and mapped by gmapping. You won't discover all the map at once when you run the gmapping node, you'll discover only the portion of the map that is visible to the robot.

For a complete map, you can navigate the robot yourself using the turtlebot_teleop node via roslaunch turtlebot_teleop keyboard_teleop.launch

That image is completely correct. You're not rendering the RobotModel in Rviz, I suggest you do by clicking Add -> RobotModel, it should appear in the center of that gray image. If it's not, then you have some sort of problem in spawning your robot.

That gray is the area of the map that has been discovered and mapped by gmapping. You won't discover all the map at once when you run the gmapping node, you'll discover only the portion of the map that is visible to the robot. robot through the Laser.

For a complete map, you can navigate the robot yourself using the turtlebot_teleop node via roslaunch turtlebot_teleop keyboard_teleop.launch

That

I tried to edit my xacro file as in: this link but it's not working for me.

If you do not have a very specific reason, don't edit anything of the URDF definition of the robot: it tells Gazebo (or Stage, depending on what simulator you use) and Rviz how to properly render the robot and what parts is it composed of.

Anyway, the image you posted is completely correct. You're not rendering the RobotModel in Rviz, I suggest you do by clicking Add -> RobotModel, it should appear in the center of that gray image. If it's not, then you have some sort of problem in spawning your robot.

That gray is the area of the map that has been discovered and mapped by gmapping. You won't discover all the map at once when you run the gmapping node, you'll discover only the portion of the map that is visible to the robot through the Laser.

For a complete map, you can navigate the robot yourself using the turtlebot_teleop node via roslaunch turtlebot_teleop keyboard_teleop.launch