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Hi, it seems cartographer can work as SLAM as well as pure localization node. see: Localization only link text
Depending on what your waypoint generating node or usecase works better on, you can either SLAM-navigate, or do mapping and afterwards navigate/plan.
I dont know this tutorial, but when workinng in localization mode one would asume cartographer to demand an initial pose (can be set in RViz or might be served by other means). Some localization nodes dont even start to work before they get an initial pose. In SLAM mode you just start at 0/0 in most cases.
As you run Gabzebo I assume you are running it all on the same computer, otherwise the firewall can hinder proper communication.
Anything else is up and running clean? All depending Jackal packages installed?
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