Please have a look at both codes i.e, hectorslam and gmapping. i am also attaching computational graph and tree for clarification. Problem is map is received when we are using hector_slam. but map is getting add up to one place. for this also i am providing a link of the screenshot of my desktop.

[Screenshot of desktop]

(https://drive.google.com/open?id=1uV5FpmMy3M8JeYurX1fkPB7B6_kAD3sx)

**[Rqt_graph]****

(https://drive.google.com/open?id=1hkyAanUCH35ct-ZEbA2IThW5aeTU-0ve)

[tf_tree]

(https://drive.google.com/open?id=1PKeAga9pvQBLKzZXyseNYKAOB8HMzSy0)

Hector slam

<?xml version="1.0"?>

    <param name="scan_topic" value="/prius/front_left_laser/scan"/>
    <param name="scan_topic" value="/prius/front_right_laser/scan"/>


    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="true"/>

    <param name="map_resolution" value="0.025"/>
    <param name="map_size" value="20000"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5"/>
    <param name="map_multi_res_levels" value="4"/>

    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9"/>
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06"/>
    <param name="map_pub_period" value="2.0"/>
    <param name="advertise_map_service" value="false"/>

<!-- --> <!-- --> <!--node pkg="fakelocalization" type="fakelocalization" name="fakelocalization"--> <!-- <remap from="baseposegroundtruth" to="/prius/baseposegroundtruth"/> --> <!--/node--> <node pkg="tf2ros" type="statictransformpublisher" name="veryinaccurateodom" args="0 0 0 0 0 0 odom baselink"/> <node pkg="cardemo" type="joysticktranslator" name="joysticktranslator"/>

<!-- Run two joy nodes publishing to the same topic, just to cover two possible joystick locations -->

Gmapping

<?xml version="1.0"?>

<param name="odom_frame" value="odom"/>


<param name="map_update_interval" value="5.0"/>
<param name="maxUrange" value="16.0"/>
<param name="maxRange" value="60.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="1.0"/>
<param name="angularUpdate" value="0.5"/>
<param name="temporalUpdate" value="3.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="30"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<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"/>

<!-- --> <!-- --> <!--node pkg="fakelocalization" type="fakelocalization" name="fakelocalization"--> <!-- <remap from="baseposegroundtruth" to="/prius/baseposegroundtruth"/> --> <!--/node--> <node pkg="tf2ros" type="statictransformpublisher" name="veryinaccurateodom" args="0 0 0 0 0 0 odom baselink"/> <node pkg="cardemo" type="joysticktranslator" name="joysticktranslator"/>

<!-- Run two joy nodes publishing to the same topic, just to cover two possible joystick locations -->