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no map receive, Gmappping with Velodyne HDL-32E

Hi All!!

I really need your help!

I am trying to make a map using “Gmapping” package, however I could not receive any map data from it.

To make 3D scan data to 2D, I use but_velodyne_proc, then /odom date seem to be published correctly over /tf topics.

Also I checked /tf frame, then it seems fine. /velodyne(scan frame)-->/base_link-->/odom-->/map

But if I tried to visualize a map with rviz, they said "no map received" and "No tranceform [] to [map]"

I am new to ROS. Thank you for your time and I will appreciate any help!!