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simulated turtlebot mapping itself

Hi,

I am trying to simulate a turtlebot gmapping with gazebo, a la this tutorial http://mirror.umd.edu/roswiki/turtlebot_simulator%282f%29Tutorials%282f%29Building%2820%29a%2820%29Map%2820%29in%2820%29TurtleBot%2820%29Simulator.html

My issue is that although I have gmapping up and running, I can't get anything close to an accurate map because the laserscan appears to be picking up the bot itself. it places an object where the robot was, and then fails to localize due to the object no longer being there once the bot moves.

Is there any way that I can exempt the robot from the scan?