Hi, i am using Ubuntu 16.04 and ROS kinetic.. I am trying to simulate mapping of indoor areas.I created my urdf and spawned the model..I am using Xtionprolive rgbd sensor..The output is converted to laser scan using depthscantolaserscan. Then the laser scan output is provided to slamgmapping node. While launching, the slamgmapping node initializes but no map is being created..i can see my robot moving around in the area in rviz and the boundaries are visible..But no colour change of mapped areas can be seen Also no output for my /map topic as well..Actually as soon as the urdfspawner completes it work and finishes cleanly, slamgmapping node dies with exitcode 11. slamgmapping node is initialized and i get the registering first scan output as well.But soon after that process dies.. how can i get the slam_gmapping to map the area. thanks in advance

Edit: my launch file: Command used is roslaunch robotdescriptionurdf gazebo_model.launch

<launch>
<!-- these are the arguments you can pass this launch file, for
example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>

<!-- We resume the logic in empty_world.launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
</include>

<!-- urdf xml robot description loaded on the Parameter Server-->
<param name="robot_description" textfile="$(find robot_description_urdf)/urdf/mapper.urdf" />


<!-- Run a python script to the send a service call to gazebo_ros to
spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen"
args="-urdf -model mapper -param robot_description"/>
<node name="joint_state_publisher" pkg="joint_state_publisher"
type="joint_state_publisher" ></node>
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher"
name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_description_urdf)/urdf.rviz" required="true" />
<!--- Depth image to laser scan -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" >
<!--        <param name="scan_height" value="3"/>   -->
        <remap from="image" to="/rgbd_camera/depth/image_raw"/>
              <param name="output_frame_id" value="rgbd_camera_depth_frame" />
    </node>

 <!-- Mapping Node -->
 <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" >
      <remap from="odom" to="odom" />

 </node>



</launch>

and the output console

[ INFO] [1539319422.402854271, 10.007000000]: Laser is mounted upwards.
 -maxUrange 9.99 -maxUrange 9.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1539319422.413630494, 10.017000000]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0.159964 0.049 0.0026536
m_count 0
Registering First Scan
[DEBUG] [1539319422.543062621, 10.117000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319422.546206807, 10.118000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319422.771212911, 10.286000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319422.780569965, 10.295000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319422.986164049, 10.475000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319422.990881384, 10.480000000]: publishing default camera info, then openni kinect camera info
[slam_gmapping-9] process has died [pid 28493, exit code -11, cmd /opt/ros/kinetic/lib/gmapping/slam_gmapping odom:=odom __name:=slam_gmapping __log:=/home/ann/.ros/log/5c94701c-cdd9-11e8-84e2-74dfbff0f0c0/slam_gmapping-9.log].
log file: /home/ann/.ros/log/5c94701c-cdd9-11e8-84e2-74dfbff0f0c0/slam_gmapping-9*.log
[DEBUG] [1539319423.140172052, 10.616000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319423.141716943, 10.618000000]: publishing default camera info, then openni kinect camera info
[DEBUG] [1539319423.308988157, 10.784000000]: publishing default camera info, then openni kinect camera info