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Can you please make sure that your odometry works. You can do this by starting only the robot drivers without gmapping and look in rviz whether the robot position is still roughly correct. Set the rviz global frame to base_link and look for the tf frame called odom. It should at least react to the movements of the robot.

Also, make sure to fully understand the default setup of the nav stack.

Can you please make sure that your odometry works. You can do this by starting only the robot drivers without gmapping and look in rviz whether the robot position is still roughly correct. Set the rviz global frame to base_linkbase_footprint and look for the tf frame called odom. It should at least react to the movements of the robot.

Also, make sure to fully understand the default setup of the nav stack.

Can you please make sure that your odometry works. You can do this by starting only the robot drivers without gmapping and look in rviz whether the robot position is still roughly correct. Set the rviz global frame to base_footprint and look for the tf frame called odom. It should at least react to the movements of the robot.

Also, make sure to fully understand the default setup of the nav stack.