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hello,

I C the Q is approx a month old, hope u have figured it out.

I was following the same tutorial, but for simulation (later I saw http://www.ros.org/wiki/turtlebot_simulator/Tutorials/Building%20a%20Map%20in%20TurtleBot%20Simulator),

But everything was exactly same except one parameter missing in tutlebot_gazebo/launch/robot.launch

I only needed to add :

<param name="output_frame" value="odom"/>

in the odometry estimator i.e., in the tag:-

 <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">

so now this node, in robot.launch looks like:-

  <!-- The odometry estimator -->

  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>     <!-- This is not present in tutrtlebot_gazebo's robot.launch -->
  </node>

 

Only with this modification I am now able to make the map correctly.

Hope it helps.