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This setup looks pretty close to the standard setup of the Turtlebot. This tutorial provides a quick overview of how a map can be generated with the Turtlebot. Of course, your hardware setup differs, so you'll probably want to read some other Turtlebot tutorials from here to get a better understanding of how everthing works.

That being said, mapping using the Kinect + gmapping can be relatively brittle depending on the environment you're operating in.

This Your setup looks sounds like it is pretty close to the standard setup of the Turtlebot. This tutorial provides a quick overview of how a map can be generated with the Turtlebot. Of course, your hardware setup differs, so you'll probably want to read some other Turtlebot tutorials from here to get a better understanding of how everthing everything works.

That being said, mapping using the Kinect + gmapping can be relatively brittle depending on the environment you're operating in.