Hi all,

I want to get the static map using Hokuyo UTM-30LX

Firstly, I got the scan data like this

rosrun hokuyo_node hokuyo_node scan:=base_scan

Next, I used static transfrom publisher like this

<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 link1_parent link1 100" />
</launch>

and next, produce a map like this

rosrun gmapping slam_gmapping scan:=base_scan

Lastly, save my map like this,

rosrun map_server map_saver


However, I can't create the map.pgm.

I suppose that I need odometry about device.
How can I generate that?

Thank you and have a good day.