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Could not get a map in navigation_2d

Hi everyone

We are trying to use the navigation_2d package and after spawning the robot, and pressing the button which should make the robot start mapping, we get this error: Could not get a map. After pressing the button which should make the robot start exploration, we get these errors: Could not get a map. Is the robot out of the map? Exploration failed, could not get current position.

We believe that the problem is from the odometry because when we print the world_x and world_y , we get the values of 0 also mMapHeight is 0. but mMapWidth has the value of 5539489. What do you think the problem might be?