Base PC

as example

export ROS_MASTER_URI=http://150.164.3.108:11311
export ROS_MASTER_IP=150.164.3.108 

Pioneer PC

export ROS_MASTER_URI=http://150.164.3.108:11311

BAse PC

 roscore 

Pioneer PC

 rosrun p2os_driver p2os 

set resolution to 1 or include this on launch

rosparam set sicklms/resolution 1

roslaunch p2os_launch sick.launch 

NEW TERMINAL

rosrun p2os_dashboard p2os_dashboard

- active motors

NEW TERMINAL for create the topics and grab the information needed

roslaunch p2os_launch gmapping_tf_lrf_p2os_teleop_joy.launch

NEW TERMINAL make a bag file to send to mapping module

rosbag record -O NOME_QUE_DESEJAR /scan /tf

SAME TERMINAL reindex bag file

rosbag reindex teste1_14_04.bag 

NEW TERMinal

rosparam set use_sim_time true

Run gmapping and wait for playing a bag file

rosrun gmapping slam_gmapping scan:=scan

New terminal

 rosbag play teste1_14_04.bag 

After finish run

rosrun map_server map_saver

that creates a map.png and map.yaml