Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Ok. So, you have the robot's \scan topic publishing on the wrong frame. You need to publish the data on the same frame as the robot. So, try a static transform publisher. This will let gmapping know where the laser is with respect to the robot's coordinate system. Hope this was of use to you!

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.