laser scan matcher + kinect [closed]

edit

What changes do I need to make, to the below launch file (demo_gmapping.launch from laser_scan_matcher) to use live /scan data published by pointcloud_to_laserscan instead of the data from demo.bag ?

I have these packages working, with me --> openni_launch openni_camera gmapping laser_scan_matcher pointcloud_to_laserscan

My aim is to create a map of the immediate surroundings and navigate it .. I don't have real odometry data

Any other suggestions of creating 2D maps using Kinect without real odometry is also welcome

[I am using kinect + ROS fuerte + ubuntu 12.04]

<!-- 
Example launch file: uses laser_scan_matcher together with
slam_gmapping 
-->

<launch>

  #### set up data playback from bag #############################

  <param name="/use_sim_time" value="true"/>

  <node pkg="rosbag" type="play" name="play" 
    args="$(find laser_scan_matcher)/demo/demo.bag --delay=5 --clock"/>

  #### publish an example base_link -> laser transform ###########

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

  #### start rviz ################################################

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo_gmapping.vcg"/>

  #### start the laser scan_matcher ##############################

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="max_iterations" value="10"/>

  </node>

  #### start gmapping ############################################

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_udpate_interval" value="1.0"/>
    <param name="maxUrange" value="5.0"/>
    <param name="sigma" value="0.1"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.15"/>
    <param name="astep" value="0.15"/>
    <param name="iterations" value="1"/>
    <param name="lsigma" value="0.1"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="1"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="0.4"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>
    <param name="xmin" value="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="delta" value="0.02"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.05"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
  </node>

</launch>