We can build the ROS package called diff_wheeled_robot_gazebo and can run the gmapping.launch file for building the map. The following are the commands to start with the mapping procedure.
Start the robot simulation by using the Willow Garage world:
$ roslaunch diff_wheeled_robot_gazebo diff_wheeled_gazebo_full.launch
Start the gmapping launch file with the following command:
$ roslaunch diff_wheeled_robot_gazebo gmapping.launch
If the gmapping launch file is working fine, we will get the following kind of output on the Terminal:
Figure 20: Terminal messages during gmapping
Start the keyboard ...
