I am really sorry to trouble everyone, and please forgive me for my poor English. But I really face some problems that I can't solve them.
I want to replace the Kinect with the rplidar laser device while gmapping, I fixed the rplidar in the middle of the turtlebot2, I installed the rplidar driver, and I wrote the gmapping launch file. There's a problem in my map, unfortunately I don't know how to describe this problem in English, I want to upload some map pictures, but I am not qualified to upload images, so I upload my map result pictures to my Baidu network disk :[TheGmappingResultPicture](http://pan.baidu.com/s/1sj6snpF)
I hope you can visit this website..
And there is another question that I want to disturbe everyone, I tried to follow this method:[How to crate a map with gmapping and hokuyo laser](http://answers.ros.org/question/173122/how-to-crate-a-map-with-gmapping-and-hokuyo-laser/) However I can't found the folder `turtlebot_navigation/config`, but I really want to know what's the difference between these two file:`turtlebot_navigation/launch/includes/gmapping.launch.xml` and `turtlebot_navigation/config/gmapping.launch.xml`
**Once again express my gratitude! Thank you very much!!**
Below is my gmapping launch file:
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