Comment by Thang Nguyen for Hi all, I am study using Slam_gmapping. I ran roscore, stage_ros first. These are the list of topic:ubuntu@tegra-ubuntu:~$ rostopic list /base_pose_ground_truth /base_scan /clock /cmd_vel /odom /rosout /rosout_agg /tf Then I run gmapping and it stop at Registering First Scanubuntu@tegra-ubuntu:~$ rosrun gmapping slam_gmapping scan:=base_scan [ INFO] [1459395266.430914447, 120.700000000]: Laser is mounted upwards. -maxUrange 29.99 -maxUrange 29.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30 [ INFO] [1459395266.459964049, 120.700000000]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 0.05 0 0 m_count 0 Registering First Scan I also tried with tutorial in this link but I still have same problem http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData#recordPlease let me know if I missed anything? Or any suggestion the method to track the problem are welcome. I run ROS on Jetson TX1Edit 1I have just attached the tf tree and below is some info from base-scan header: seq: 259 stamp: secs: 26 nsecs: 0 frame_id: base_laser_link angle_min: -2.35837626457 angle_max: 2.35837626457 angle_increment: 0.00436736317351 time_increment: 0.0 scan_time: 0.0 range_min: 0.0 range_max: 30.0 ranges: [2.454775333404541, 2.446903944015503, 2.4644339084625244, ... intensities: [1.0, 1.0, 1.0, 1.0, 1.0, ... Edit 2: rqt_graph

spmaniato: You answered my question. When I saw it hang at Registering First Scan, I didn't try to continue moving the robot by keyboard. But when I try it, after a delay, the gmapping start process with status update. Could you please changed this to answer so I can accept? Thank you very much.