# Error in Gmapping: Stopping device RGB and Depth stream flush and Error in rViz: No map received

Hello, I'm using ROS Indigo (version 1.11.10) and ubuntu 14.04.2-desktop-amd64-turtlebot-RCO in VMware 15.0 workstation pro. I'm using X Box Kinect 360 camera. I'm trying to get the map from TurtleBot2. Although my TurtleBot is moving via Teleoperation but it is not showing or getting any map in rViz. I'm giving the following commands in terminal. First two commands are given in the same terminal, the third command is given in another terminal, and finally the fourth command is given in another separate terminal.

roslaunch turtlebot_bringup minimal.launch

roslaunch turtlebot_teleop keyboard_teleop.launch

After giving the "roslaunch turtlebot_navigation gmapping_demo.launch" command, it is showing the following error in the terminal window.

Searching for device with index = 1 started with pid [20002] Starting a 3s RGB and Depth stream flush. Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'B00365727555045B' started with pid [20093] rgb_frame_id = 'camera_rgb_optical_frame' depth_frame_id = 'camera_depth_optical_frame' Camera calibration file /home/turtlebot/.ros/camera_info/rgb_B00365727555045B.yaml not found. Using default parameters for RGB camera calibration. Camera calibration file /home/turtlebot/.ros/camera_info/depth_B00365727555045B.yaml not found. Using default parameters for IR camera calibration. Using plugin "static_layer" Requesting the map... Stopping device RGB and Depth stream flush. Device timed out. Flushing device. Starting a 3s RGB and Depth stream flush. Stopping device RGB and Depth stream flush.

In the rViz window, I'm not getting any map although the robot is moving both in real life and inside the RobotModel in rViz. The error I'm getting in Map option of rViz window is like the following:

Map:

Status: Warn

Topic: OK

Update Topic: OK

That message is not an error but a warning of the freenect_launch Kinect driver. It is just stating that the driver is using default parameters for camera calibrations because it was unable to find a yaml config file. Furthermore, since you are using a virtual machine, it is possible that you have conflict with the USB connection of the Kinect. To start the debug process I would look first at the image provided for the Kinect (with image_view you can do that) and then, at the laser scan provided by the node depthimage_to_laserscan (/scan). When you are sure those nodes and topics are working properly you can continue to debug why there is no map generation... If those topics are enabled and correct there is the possibility you do not have a proper tf tree. You can look at the tf tree by tf debug tools. It is possible ...(more)