Dear ROS-users, I'm trying to build a map using slam_gmapping stack but without success. I tried before to download and use the test bag file and everything works fine. I'm using a sick lsm200 laser and a pioneer(peoplebot) platform and for make my bag file I used the sicktoolbox_wrapper package (sicklms), a version modified of p2os driver wrapper and the old package teleop_base (in particular I'm using teleop_base_keyboard to send cmd_vel commands). I don't know if I make a mistake when I'm trying to make a bag file, or on the second step, when I'm trying to elaborate the bag file; anyway in the tutorial http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData I read: Start recording scans and transforms (note that the scan topic may vary from robot to robot): rosrecord -f mylaserdata /base_scan /tf But maybe I didn't understand the meaning of "transforms". I know that for make a map from slam algorithm I need to save/record laserdata and odometric data; In my case, I've the following topics: Published topics: * /motor_state [p2os/MotorState] 1 publisher * /battery_state [pr2_msgs/BatteryState] 1 publisher * /rosout [roslib/Log] 3 publishers * /rosout_agg [roslib/Log] 1 publisher * /pose [nav_msgs/Odometry] 1 publisher * /scan [sensor_msgs/LaserScan] 1 publisher * /cmd_vel [geometry_msgs/Twist] 1 publisher Subscribed topics: * /time [unknown type] 4 subscribers * /rosout [roslib/Log] 1 subscriber * /cmd_vel [geometry_msgs/Twist] 1 subscriber * /cmd_motor_state [unknown type] 1 subscriber * /clock [unknown type] 4 subscribers So I recorded scan and pose messagges in this way (note: I don't have a tf topic message) : record -f mylaserdata /scan /pose After, When I'm try to make a map, I ran: rosrun gmapping slam_gmapping scan:=scan (scan:=scan it's not necessary I think) and I used the rosplay command as well: rosplay mylaserdata-.bag After this, I received form slam_gmapping command this warning: [ WARN] 1269617084.120287000: MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information. The warning it's correct (I send a odom messages) and it doesn't receive information from scanner data, like in the test.bag example. So I suppose that something in topic name is wrong, or better, the slam_gmapping expects a tf message, as described in the ros wiki http://www.ros.org/wiki/gmapping 5.1 Subscribed topics, where I read "Transforms necessary to relate frames for laser, base, and odometry (see below) " but "below" I didn't find information necessary for understand how convert odometric message in a tf message and why I need to to this... Anybody can help me? Thank You! Regards, Enea Scioni -- View this message in context: http://n3.nabble.com/slam-gmapping-messages-problem-tp676863p676863.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Download Intel® Parallel Studio Eval Try the new software tools for yourself. Speed compiling, find bugs proactively, and fine-tune applications for parallel performance. See why Intel Parallel Studio got high marks during beta. http://p.sf.net/sfu/intel-sw-dev _______________________________________________ ros-users mailing list ros-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/ros-users