How can I create a map by using gmapping and a Hokuyo-Scanner?

edit

Hey,

i have a Hokuyo-Scanner (UTM-30LX-EW) and i would like to create a 2D-Map with gmapping and visualize this in realtime with Rviz. Can anyone tell me what the best way is to do this?

my Steps are: $ roscore $ rosrun urg_node urg_node _ip_address:="192.168.0.10" scan:=base_scan $ rosrun gmapping slam_gmapping scan:base_scan $ rosrun rviz rviz --> add map --> set topic to "map" --> set fixed frame to "map"

Rviz shows a massage "no map received!"

Is there any simple way to create and view a map by using Hokuyo-Scanner over Ethernet? or what do i wrong?

thanks and best regards