I am running gmapping on husky bot with hokoyo scanner in gazebo simulation environment.
I am experimenting with gmapping in an empty world.
Gmapping does not create any map and the map frame jumps around.
Why does gmapping not create a map or mark cells as vacant if the laser scanner is not detecting any obstacles. And if the laser scanner can't see any landmarks, why is the map frame not equal to odom frame?
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