I followed [this tutorial](http://wiki.ros.org/cn/slam_gmapping/Tutorials/MappingFromLoggedData) with the rosbag provided in the tutorial.
Here is the map it produces:
It looks like it only mapped the first scan.
Here is the output from the gmapping node:
rosrun gmapping slam_gmapping scan:=base_scan
[ INFO] [1551524238.823445558, 124.693134426]: 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] [1551524238.836756704, 124.703192634]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= -19.396 -8.33452 -1.67552
m_count 0
Registering First Scan
[ WARN] [1551524238.863916087, 124.733375778]: Detected jump back in time of 0.00925415s. Clearing TF buffer.
[ WARN] [1551524239.771986838, 125.640838491]: Detected jump back in time of 0.00961792s. Clearing TF buffer.
The warning from the last line repeats.
What am I doing wrong here?
Is it possible to use gmapping with a rosbag that contains just the laser scan and no transform?
I use Ubuntu 16.04 and ROS kinetic 1.12.14.
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