Hi @burakaksoy, FUNMAP on the simulated Stretch should work in theory, but hasn’t been tested yet. The Gazebo simulation provides point clouds, 2D lidar scans, and odometry required by FUNMAP, but differs from the real Stretch in ways that could be causing failures. In particular, the simulated robot has five separate action servers for commanding joints, while the real robot has only one. Since FUNMAP expects one action server, this is likely where you’re seeing errors. If you could you provide more information on how you’re using FUNMAP and what errors you are seeing, I can help you make FUNMAP work in the Gazebo simulation.