Hi thats very helpful. btw, i solved overlapping of maps problem. My scanner was not properly taking parameters. Now it is much better. Thanks for your help. -- View this message in context: http://ros-users.122217.n3.nabble.com/gmapping-and-navigation-scenario-issue-tp2294640p2300064.html Sent from the ROS-Users mailing list archive at Nabble.com.