Make a 2D map

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I have another problem that need your help,

I built a data.bag using rosbag as tutorial with transform

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#include <ros ros.h=""> #include <tf transform_broadcaster.h="">

int main(int argc, char** argv){ ros::init(argc, argv, "urca_hokuyo_tf"); ros::NodeHandle n;

ros::Rate r(100);

tf::TransformBroadcaster broadcaster;

while(n.ok()){ broadcaster.sendTransform( tf::StampedTransform( tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)), ros::Time::now(),"base_link", "hokuyo_scan")); r.sleep(); } }

, but when i use rosrun gmapping slam.. and rosbag play and rosrun map_sever map_saver. I do not create a map.

Please, show me how can i fix it