use ros catkin to build a project to pulish fake laser data and tranfrom it for rviz and mapping
##source code
source code locates in the src/beginner_tutorials
it is a simple publisher of ros to generate fake laser data
##how to use
###build catkin workspace
Create a ROS Workspace
###command line
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash
roscore
rosrun beginner_tutorials talker
rosrun gmapping slam_gmapping scan:=laser
rosrun rviz rviz