Hi all again! First of all, thanks to brian and erik for replied me! Now I fixed my problems with tf stream data, and everything seems work fine. I also tried to use the navigation stack in a "fake enviroment" and It works fine too. I wrote "fake enviroment" because I used a fake map: infact I'm not able to build map using gmapping ros node yet. If I run my real record data, the gmapping node print on screen just few information, like: -maxUrange 8.09 -maxUrange 8.09 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30 [ INFO] 0.000000000: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 0 0 0 m_count 0 Registering First Scan and that's all. Instead, I expect more information like: update frame 35 update ld=1.03982 ad=0.0612444 Laser Pose= -0.116927 -1.9003 -1.90458 m_count 3 Average Scan Matching Score=902.834 neff= 29.6043 Registering Scans:Done update frame 39 update ld=1.03922 ad=0.158316 Laser Pose= -0.359376 -2.91043 -1.74626 m_count 4 Average Scan Matching Score=482.681 neff= 14.5789 *************RESAMPLE*************** Deleting Nodes: 3 4 6 10 11 12 16 21 22 24 25 26 28 29 Done Deleting old particles...Done Copying Particles and Registering scans... Done That usually I gmapping print on screen if I use bagfile by willowgarage or a bag file created by a simulation (using ros/stage). I know that these informations are printed from gmapping code/libraries, and not from the wrapper, but the node appears like in "stand by", like if it's waiting for something. If I try to get the map using map_saver, I receive a map with only my last laser scan. Anybody knows how I can fix it, or where can I take a look in the code for understand how fix it? Thank you again! Enea Scioni -- View this message in context: http://ros-users.122217.n3.nabble.com/slam-gmapping-messages-problem-tp676863p745574.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------------------------------------------------------ _______________________________________________ ros-users mailing list ros-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/ros-users