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I installed it with apt-get

My solution was to create a launch file with these parameters

<launch>
<param name="use_sim_time" value="false"/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
  <remap from="laser" to="OccupancyGrid"/>
  <param name="map_update_interval" value="5.0"/>
  <param name="maxUrange" value="16.0"/>
  <param name="sigma" value="0.05"/>
  <param name="kernelSize" value="1"/>
  <param name="lstep" value="0.05"/>
  <param name="astep" value="0.05"/>
  <param name="iterations" value="5"/>
  <param name="lsigma" value="0.075"/>
  <param name="ogain" value="3.0"/>
  <param name="lskip" value="0"/>
  <param name="srr" value="0.1"/>
  <param name="srt" value="0.2"/>
  <param name="str" value="0.1"/>
  <param name="stt" value="0.2"/>
  <param name="linearUpdate" value="1.0"/>
  <param name="angularUpdate" value="0.5"/>
  <param name="temporalUpdate" value="3.0"/>
  <param name="resampleThreshold" value="0.5"/>
  <param name="particles" value="30"/>
  <param name="xmin" value="-50.0"/>
  <param name="ymin" value="-50.0"/>
  <param name="xmax" value="50.0"/>
  <param name="ymax" value="50.0"/>
  <param name="delta" value="0.05"/>
  <param name="llsamplerange" value="0.01"/>
  <param name="llsamplestep" value="0.01"/>
  <param name="lasamplerange" value="0.005"/>
  <param name="lasamplestep" value="0.005"/>
</node>

</launch>

In my tf model the base_laser is called laser <remap from="laser" to="OccupancyGrid"/>

Thanks Bart

I installed it with apt-get

My solution was to create a launch file with these parameters

<launch>
 <param name="use_sim_time" value="false"/>
 <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
   <remap from="laser" to="OccupancyGrid"/>
   <param name="map_update_interval" value="5.0"/>
   <param name="maxUrange" value="16.0"/>
   <param name="sigma" value="0.05"/>
   <param name="kernelSize" value="1"/>
   <param name="lstep" value="0.05"/>
   <param name="astep" value="0.05"/>
   <param name="iterations" value="5"/>
   <param name="lsigma" value="0.075"/>
   <param name="ogain" value="3.0"/>
   <param name="lskip" value="0"/>
   <param name="srr" value="0.1"/>
   <param name="srt" value="0.2"/>
   <param name="str" value="0.1"/>
   <param name="stt" value="0.2"/>
   <param name="linearUpdate" value="1.0"/>
   <param name="angularUpdate" value="0.5"/>
   <param name="temporalUpdate" value="3.0"/>
   <param name="resampleThreshold" value="0.5"/>
   <param name="particles" value="30"/>
   <param name="xmin" value="-50.0"/>
   <param name="ymin" value="-50.0"/>
   <param name="xmax" value="50.0"/>
   <param name="ymax" value="50.0"/>
   <param name="delta" value="0.05"/>
   <param name="llsamplerange" value="0.01"/>
   <param name="llsamplestep" value="0.01"/>
   <param name="lasamplerange" value="0.005"/>
   <param name="lasamplestep" value="0.005"/>
 </node>
</launch>

</launch>

In my tf model the base_laser is called laser

<remap from="laser" to="OccupancyGrid"/>

Thanks to="OccupancyGrid"/>

Thanks
Bart