Anyone manage to do SLAM_gmapping using the combination of kinect and nxt?

Could you please share your experience with me?

I have tried to do it using nxtteleop, pointcloudto_laserscan and slam. Having tons of problems with it =(

1) MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

2) When I run "rosrun mapserver mapsaver -f ./maps/map" it keeps on saying waiting for map.

3) When I set Fixed frame to /map the laser scan from kinect will show error, it works well if i set fixed frame to openni_depthframe. ....etc

Is there a tutorial log specifically on NXT Kinect SLAM_Gmapping?

I have already done the ros and navigation stack tutorial but I just can't relate them. Which makes me wonder whether the combination of NXT and Kinect is possible to do gmapping.

Thank you so much.