Robot doesn't explore when used with frontier_exploration, move_base and gmapping

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Hello everyone,

I am currently working on a small project to automate the motion of a robot when implementing SLAM.

Facts:

1. 1. The robot platform used is Pioneer_p3dx and sensor mounted on top is Hokuyo URG 04LX UG01, in V-Rep.
2. 2. The topics published are
   1. a.) /base_scan(sensor_msgs/LaserScan),
   2. b.) /tf,
   3. c.) /odom(nav_msgs/Odometery),
   4. and is subscribed to /cmd_vel.
   5. 3. Most of the information regarding how to use parameters of frontier_exploration, move_base I learnt from repositories on github using Husky and Turtlebot as their basis.

   Problems:

   1. 1. When the program starts, it starts registering LaserScans and robot pose, but soon I get an error "Scan Matching error, using odometery".
   2. 2. After providing an exploration_boundary and an initial point, I get the visual representation of map and costmaps but robot doesn't move.
   3. 3. In the V-Rep terminal, I am getting an error which says "/explore_server" requires "base_scan" to have "sensor_msgs/PointCloud" data type and not "sensor_msgs/LaserScan".

   I tried decreasing sim_time to 1.0 as suggested here on some other question but it doesn't work. I am guessing it is because of the limitations my laptop presents(Dual Core, 2GHz) but any help and suggestions will be appreciated. Node Graph and TF tree are attached, while screenshots of errors are attached too. Maybe someone more experienced than me that point out the possible mistakes. I will upload parameter files and launch files if need be. Thank you. link for pics: https://drive.google.com/drive/folder...