Make a map using Hokuyo UST -10LX

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Hello, I am trying to build a map using Hokuyo, i use robot Pioneer 3dx, gmapping, move_base and rviz . When i choose /scan of Hokuyo instead of chossing /pioneer/laser/scan in Laser Sensor in Rviz. There is error with laser, and i can not make a map.

I follow the tutorial such as: http://wiki.ros.org/gmapping , http://wiki.ros.org/navigation . It dose not work.

<launch> <arg name="scan_topic" default="scan"/>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">

<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>

</node> <master auto="start"/>

<arg name="cmd" default="/cmd_vel"/> <node name="map_server" pkg="map_server" type="map_server" args="$(find urca_pioneer_2dnav)/maps/a.yaml" respawn="false" output="screen"/>

<include file="$(find urca_pioneer_2dnav)/launch/amcl_pioneer.launch"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find urca_pioneer_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap"/> <rosparam file="$(find urca_pioneer_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap"/> <rosparam file="$(find urca_pioneer_2dnav)/params/local_costmap_params.yaml" command="load"/> <rosparam file="$(find urca_pioneer_2dnav)/params/global_costmap_params.yaml" command="load"/> <rosparam file="$(find urca_pioneer_2dnav)/params/base_local_planner_params.yaml" command="load"/> </node> </launch>

Please show me how can i build a map!