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Thanks, Where would I find a launch file for that? Or how to make a launch file for gmapping?

Would that be in a tutorial?

Thanks very much. What would be an alternate?

Like what is a more standard mapper node which publishes /map?

turletbot_multirelay_customized.launch: http://i.imgur.com/MKLQR.png

We're not entirely sure if were using navigation or mapping.... it looks as if we aren't since the /map frame doesn't seem to exist. How do we do this?

Yes we can see the robot model in rviz by setting both to /base_link

New to ros. When launching the launch file, this warning is produced.

[ WARN] [1355082939.406705385]: Waiting on transform from /robot0/base_link to /robot0/map to become available before running costmap, tf error:

Similarly in rviz, when setting Fixed Frame to /map, it says Fixed Frame /map does not exist. We set both Fixed Frame and Target Frame to /map

When running roswtf, output is:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /turtlebot_node:
   * /cmd_vel
 * /move_base_node:
   * /move_base_simple/goal0
 * /local_costmap/voxel_grid_throttle:
   * /local_costmap/voxel_grid


Found 18 error(s).

ERROR Communication with [/rosout] raised an error: 

ERROR Communication with [/kinect_laser_narrow] raised an error: 

ERROR Communication with [/turtlebot_node] raised an error: 'NoneType' object has no attribute 'sendall'

ERROR Communication with [/turtlebot_laptop_battery] raised an error: 

ERROR Communication with [/openni_manager] raised an error: 

ERROR Communication with [/openni_camera] raised an error: 

ERROR Communication with [/phidget_spatial] raised an error: 

ERROR Communication with [/move_base_node] raised an error: 

ERROR Communication with [/throttler] raised an error: 

ERROR Communication with [/local_costmap/voxel_grid_throttle] raised an error:

ERROR Communication with [/robot_state_publisher] raised an error: 

ERROR Communication with [/robot_pose_ekf] raised an error: 


ERROR Communication with [/kinect_laser] raised an error: 


ERROR Communication with [/scene_segmentation] raised an error: 


ERROR Communication with [/app_manager] raised an error: 


ERROR Communication with [/ptcld_converter] raised an error: 

ERROR Communication with [/recorder] raised an error: 

ERROR Communication with [/master_sync_CogTurtle1_548_7079733040986523559] 

raised an error: list index out of range

From rosrun tf view_f the output is: i don't know how to post that

Also, when trying with minimal.launch, rviz displays the same errors