robot_localization and gmapping with "no map received"

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Hi to all, I'm using Husky A200 with RTK GPS (/fix), a SICK laser (/scan), a AHRS IMU (/imu/data) and wheel encoders.

I use robot_localization and navsat_transform_node to improve the position of my robot.

The topic /odometry/filtered/global contains the robot's odometry with the GPS information.

Since I would like to build a map and use GPS waypoints for the robot's navigation, I'm trying to use slam_gmapping with this command:

rosrun gmapping slam_gmapping scan:=scan _odom_frame:=odometry/filtered/global

The problem is that in RVIZ, I get the error: "no map received" and so I can only see the path followed by the robot, but no map.

Can you help me to fix this error, please? I can see the /scan laser point in RVIZ without problems.

This is my bag file (40MB) and this is the launch file I'm using for the robot_localization package:

<!-- Test launch file for two EKF instances and one navsat_transform instance -->

<launch>

 <rosparam command="load" file="$(find husky_control)/config/control.yaml" />

  <node name="base_controller_spawner" pkg="controller_manager" type="spawner" args="husky_joint_publisher husky_velocity_controller --shutdown-timeout 3"/>



 <node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="--clock /home/rocco/Desktop/gps/test4.bag -d 3"/>

    <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 base_link base_imu" />
    <node pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 0 0.4 0 0 0 base_link gps" /> 
    <node pkg="tf2_ros" type="static_transform_publisher" name="bl_laser" args="0 0 0.4 0 0 0 base_link laser" /> 

    <!-- Local (odom) instance -->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_local" clear_params="true">
      <param name="frequency" value="10"/>
      <param name="sensor_timeout" value="0.1"/>
      <param name="two_d_mode" value="false"/>

      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame" value="odom"/>

      <param name="transform_time_offset" value="0.0"/>

      <param name="odom0" value="/husky_velocity_controller/odom"/>
      <param name="imu0" value="/imu/data"/>

      <rosparam param="odom0_config">[false, false, false,
                                      false, false, false,
                                      true, true, true,
                                      false, false, true,
                                      false, false, false]</rosparam>

      <rosparam param="imu0_config">[false, false, false,
                                     true,  true,  true,
                                     false, false, false,
                                     true,  true,  true,
                                     true,  true,  true]</rosparam>

      <param name="odom0_differential" value="false"/>
      <param name="imu0_differential" value="false"/>

      <param name="odom0_relative" value="false"/>
      <param name="imu0_relative" value="false"/>

      <param name="imu0_remove_gravitational_acceleration" value="true"/>
      <param name="print_diagnostics" value="true"/>

      <param name="odom0_queue_size" value="10"/>
      <param name="imu0_queue_size" value="10"/>

      <param name="debug"           value="false"/>
      <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

      <remap from="/odometry/filtered" to="/odometry/filtered/local"/>
    </node>

    <!-- Global (map) instance -->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_global" clear_params="true">
      <param name="frequency" value="10"/>
      <param name="sensor_timeout" value="0.1"/>
      <param name="two_d_mode" value="false"/>

      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame" value="map"/>

      <param name="transform_time_offset" value="0.0"/>

      <param name="odom0" value="/husky_velocity_controller/odom"/>
      <param name="odom1" value="/odometry/gps"/>
      <param name="imu0" value="/imu/data"/>

      <rosparam param="odom0_config">[false, false, false,
                                      false, false, false,
                                      true ...