Exploration in Gazebo doesn't work

[flbvieira]

Hello, I'm trying to test the package in the Gazebo Simluation. I changed turtlebot_gmapping.launch to don't run 3dsensor.launch because I'm already running the plugin openni from gazebo similation turtlebot_world.launch.
However I'm getting the following error message when I run "rosrun turtlebot_exploration_3d turtlebot_exploration_3d":

[ INFO] [1590634740.635910761, 257.825000000]: Candidate View Points: 0 Genereated, 15 evaluating...
[ERROR] [1590634740.636365218, 257.825000000]: Very few candidates generated, finishing with exploration...

Am I forgeting any step? Do I have to do something else to adapt the package?

Thanks!

[flbvieira]

I solved this issue changing the topic of kinect in turtlebot_gazebo.urdf.xacro, as follows:

depth/points
to
depth_registered/points

and

depth/image_raw
to
depth_registered/image_raw

I hope this might be helpful