Husky ROS melodic image on a real robot, gmapping.launch stuck at "requesting a map"

edit

I realized that the Lidar on our husky is "hokuyo lidar" while the one mentioned in Clearpath installation guide is (Sick LMS1XX Lidar). I managed to turn on my laser by: 1) Install urg_node (sudo apt-get install ros-melodic-urg-node) 2) creating this laser.launch file and adding it to /opt/ros/melodic/share/husky_navigation/launch

laser.launch:

<launch>

<node pkg="urg_node" type="urg_node" name="urg_node">

    <param name="serial_port" value="/dev/ttyACM0" />
    <param name="frame_id" value="laser_link" />
    <param name="calibrate_time" value="true"/>
    <param name="publish_intensity" value="false"/>
    <param name="angle_min" value="-1.5"/>
    <param name="angle_max" value="1.5"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="robot_to_kinect" args="0.393 0 .155 0 0 3.14159 /base_link /laser_link 20"/>

</launch>

I also added this line of code at the top in gmapping_demo.launch:

<launch>

<include file="$(find husky_navigation)/launch/laser.launch"/>

. . .

3) Also make sure when you run rviz to change global_option fixed frame to "map" instead of "odom" It works now :)