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Firstly, I'd try with the baseline TB3 in our little demo world with your launch files / scripts. This way we can tell what issues are in the navigation configuration and which may be caused by your specific environment model or robot models.

Secondly, there may be a serious issue if you see any AMCL particle clouds. AMCL is the localization engine but you've explicitly said you want to be doing SLAM, so you should not expect to see anything from AMCL because it shouldn't even be running.

Thirdly, I'd try slam_toolbox rather than cartographer (for debugging, you're welcome to move back to it later) to see if the changing of SLAM vendors makes it work. Basically, my advice boils down to start with something we know works (like the tutorial) and change 1 thing at a time until it breaks

• Use the tutorial example
• Use your code instead, but still using the TB3 / sandbox world
• Use your own robot instead now
• Use your environment instead now
• Use your different SLAM vendor instead now

Firstly, I'd try with the baseline TB3 in our little demo world with your launch files / scripts. This way we can tell what issues are in the navigation configuration and which may be caused by your specific environment model or robot models.

Secondly, there may be a serious issue if you see any AMCL particle clouds. AMCL is the localization engine but you've explicitly said you want to be doing SLAM, so you should not expect to see anything from AMCL because it shouldn't even be running.

Thirdly, I'd try slam_toolbox rather than cartographer (for debugging, you're welcome to move back to it later) to see if the changing of SLAM vendors makes it work. Basically, my advice boils down to start with something we know works (like the tutorial) and change 1 thing at a time until it breaksbreaks. Once it breaks, you have a good idea where the issue lies and then you can ask a follow up question on a more targeted issue.

• Use the tutorial example
• Use your code instead, but still using the TB3 / sandbox world
• Use your own robot instead now
• Use your environment instead now
• Use your different SLAM vendor instead now