Perhaps gmapping is configured with odom_frame == base_footprint?

	brian.

On Fri, Jun 25, 2010 at 10:32 AM, Wim Meeussen
<meeussen@willowgarage.com> wrote:
> Michal,
>
>> RESULTS: for /map to /base_footprint
>> Chain is: /map -> /base_footprint -> /odom_combined
>> Net delay     avg = 0.020768: max = 0.064
>
> [...]
>
>> the only weird thing is, that in rviz the transform arrows shows like
>> this: /base_footprint -> /odom_combined -> /map
>> might this be a sign of some problem?
>
> Yes, This is most likely your problem. It appears that you have a tf
> publisher from map to base_footprint, and another publisher from
> odom_combined to base_footprint. So the base_footprint frame has two
> parents.  In our setup we have amcl publish the transform from map to
> odom combined, and the robot pose ekf publish the transform from
> odom_combined to base_footprint.  What setup are you running? Did you
> reconfigure amcl to publish a different tf transform?
>
> Wim
>
>
>
>
>
> --
> Wim Meeussen
> Willow Garage Inc.
> <http://www.willowgarage.com)
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