building a map using slam_gmapping

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Hello,

I am using ubuntu 14.04 and indigo version.

Also, I used kinect and custom made robot with encoders.

I published laser scan, odom, and tf information and now I'm starting building the map but I faced some problems

This the launch file for publishing laser scan information:

<launch>    
  <arg name="camera" default="camera"/>     
  <include file="$(find openni_launch)/launch/openni.launch">   
  <arg name="camera" default="$(arg camera)"/>  
  </include>    
  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">   
  <remap from="cloud_in" to="/camera/depth/points"/>    
  </node>   
</launch>

And I can view the laser scans successfully in rviz.

This is the node to publish odom information (the nodes assumes the robot is moving in circle):

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "odometry_publisher");

  ros::NodeHandle n;
  ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
  tf::TransformBroadcaster odom_broadcaster;

  double x = 0.0;
  double y = 0.0;
  double th = 0.0;

  double vx = 0.1;
  double vy = -0.1;
  double vth = 0.1;

  ros::Time current_time, last_time;
  current_time = ros::Time::now();
  last_time = ros::Time::now();

  ros::Rate r(1.0);
  while(n.ok()){

    ros::spinOnce();               // check for incoming messages
    current_time = ros::Time::now();

    //compute odometry in a typical way given the velocities of the robot
    double dt = (current_time - last_time).toSec();
    double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
    double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
    double delta_th = vth * dt;

    x += delta_x;
    y += delta_y;
    th += delta_th;

    //since all odometry is 6DOF we'll need a quaternion created from yaw
    geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);

    //first, we'll publish the transform over tf
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = current_time;
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id = "base_link";

    odom_trans.transform.translation.x = x;
    odom_trans.transform.translation.y = y;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = odom_quat;

    //send the transform
    odom_broadcaster.sendTransform(odom_trans);

    //next, we'll publish the odometry message over ROS
    nav_msgs::Odometry odom;
    odom.header.stamp = current_time;
    odom.header.frame_id = "odom";

    //set the position
    odom.pose.pose.position.x = x;
    odom.pose.pose.position.y = y;
    odom.pose.pose.position.z = 0.0;
    odom.pose.pose.orientation = odom_quat;

    //set the velocity
    odom.child_frame_id = "base_link";
    odom.twist.twist.linear.x = vx;
    odom.twist.twist.linear.y = vy;
    odom.twist.twist.angular.z = vth;

    //publish the message
    odom_pub.publish(odom);

    last_time = current_time;
    r.sleep();
  }
}

I followed the steps in this tutorial

When I reached this command : rosbag play --clock mylaserdata.bag the other terminal gives this error:

Warning: TF_OLD_DATA ignoring data from the past for frame base_laser at time 1.4273e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.7-0trusty-20141230-0040/src/buffer_core.cpp

Also, after typing this command: rosrun map_server map_saver it says Waiting for the map and didn't do any thing.

UPDATE:

I used robot_state_publisher package to publish the TF

and this is the TF of the robot: