I have a hokuyo mounted on segway RMP 200. I was able to get a reasonably good map with gmapping using the data published using the hokuyo and odometry published by the segway.

Eventually I would like to use the Segbot navigation algorithm. Hence I then tried bringing up the segbot tf tree before creating the bag. This time however, I was not able to get a good map.

roslaunch segbotbringup segbothokuyo.launch & roslaunch turtlebotteleop logitechsegbot.launch & rosbag record -O segbotdata /scan /tf

roscore rosparam set usesimtime true rosrun gmapping slamgmapping scan:=scan _odomframe:=odom rosbag play --clock gmapping_data.bag

Is there anything I am missing?