I added a laser scanner to a custom robot model, but when I ran the the gmap node. The robot was not mapping the environment.
The warnings I got when I ran my launch file are :
Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 98.215 timeout was 0.1.
The origin for the sensor at (71.50, -50.00) is out of map bounds. So, the costmap cannot raytrace for it.
Scan Matching Failed, using odometry. Likelihood=0 lp:71.5 -50 1.49224e-17 op:70.6211 -50.1456 0.000266226
The image of my TF tree is [https://imgur.com/a/shzkIOB](https://imgur.com/a/shzkIOB)
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