Gmapping Launch file / URDF axis Problem

[Anvesh-Som]

Gmapping launch file needs to be changed according to MediBot.
Currently, it is impossible to map with it for new world because of It's CAD-> URDF axis does not sit right with conventions by ROS, hence they cause problems while mapping (But not with navigation).
Current links and joints names in robot_gmapping.launch file belong to a different simple wheeled robot to map the COS world, which needs to be updated ASAP / or the URDF to be fixed.

[manjotsuri-20]

May be If you try it with the latest pull, gmapping will work.
If this was the issue, this issue can be closed.

Thanks