Gmapping is running fine and generating the map
i will launch the gazebo model then the amcl (with map) then the move base and gives the 2d nav goal in rviz then robot goes to random positions and doesnt stop moving the global planner and local planner shows the right path ,but robot doesn't move i am using my own urdf file also the movebase.launch runs only if gmapping.launch is running if it is closed then when the movebase.launch crashes saying can't get the initial pos of the robot the tf tree before closing the gmapping is https://drive.google.com/open?id=1MOkSBcI0mOdS4aGvwE4WGF54Dx7IEHih and after the gmapping is closed is https://drive.google.com/open?id=1Og0ubn329sgUKNe17H7kNCbFNlOte45f the rqt tree is as follows (in 2 image as it is a large image) https://drive.google.com/open?id=1sv6oys458IO0pDBThtaK8LcYnTZZmFu https://drive.google.com/open?id=1TvLcl-FD-v6q8qOBDxpz-6EORauaSEXG