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I think that your kinect_laser is publishing on topic /scan but move_base and gmapping expect it to be on topic /base_scan. So first undo your change on costmap_common.yaml, and add this remap on your node:

<remap from="scan" to="/base_scan"/>

after the

<remap from="cloud" to="/cloud_throttled"/>

Then type

rostopic info /scan

and

rostopic info /base_scan

to check that everybody is subscribed to /base_scan

I think that your kinect_laser is publishing on topic /scan but move_base and gmapping expect it to be on topic /base_scan. So first undo your change on costmap_common.yaml, and add this remap on your node:

<remap from="scan" to="/base_scan"/>

after the

<remap from="cloud" to="/cloud_throttled"/>

Then type

rostopic info /scan

and

rostopic info /base_scan

to check that everybody is subscribed to /base_scan

I think that your kinect_laser is publishing on topic /scan but move_base and gmapping expect it to be on topic /base_scan. So first undo your change on costmap_common.yaml, and add this remap on your node:

<remap from="scan" to="/base_scan"/>

after the

<remap from="cloud" to="/cloud_throttled"/>

Then type

rostopic info /scan

and

rostopic info /base_scan

to check that everybody is subscribed to /base_scan

Update Yeap, you must remap everything to /scan or to /base_scan. Let's use /scan: * /scan:

• Remove the <remap from="scan" to="/base_scan"/> on Fake laser * laser
• Rename base_scan as scan on costmap_common.yaml * costmap_common.yaml
• Add <remap from="base_scan" to="scan"/> in the explore launch file

/base_scan topic should disapear, and /scan should have 1 publisher and 3 subscribers