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Hey,

The way I understand the question is that, gmapping is working fine but to visualize it in rviz u have to manually set fixed frame as "/map".

If the problem is only with visualization then u can save rviz settings once so that u don't have to set fixed frame every single time, but if gmapping is not publishing map frame then its a different problem.

To confirm whether gmapping is publishing frame use following command

rosrun tf tf_echo /map /odom_combined

If u see the tf output then gmapping is working fine.