sample launch file for using gmapping

[oscar-lima]

https://github.com/socrob/robocup-at-work/blob/kinetic/mas_industrial_robotics/mir_navigation/mir_2dslam/ros/launch/2dslam.launch

[magnuok]

How can I find the base_frame for our robot? Are the launch-file suppose to save a map-file aswell?

[cazevedo]

You can use tf tree to visualize the frames of your robot and therefore understand which one is the base_frame. However the frame used is almost always the base_link. Gmapping creates a map and publishes it to the /map topic. You should use the map_server package to save this map. You just need to run, since it will automaticaly subscribe to the /map topic: rosrun map_server map_saver