Hi, After abandoning my effort of compiling it successfully in boxturtle and successfully doing it in Cturtle, first proper visualization of PR2 happened in Gazebo :) But there is again something to do. As mentioned in tutorial, rviz shall start itself as mentioned in tutorial and map_building_demo.launch also says so. But it is not auto launching! But pr2_gazebo_wg do not have map.vcg file. I tried in trunk_cturtle, trunk_boxturtle and trunk stacks. Is there any other place where I can download this file from ? Following is the output of console: No handlers could be found for logger "rosout" [ERROR] 1279178380.044454: This version of tuckarm is deprecated. Use tuck_arms.py instead. See the wiki at [rospack] warning: trailing slash found in ROS_PACKAGE_PATH [INFO] 1279178380.212968: Waiting for controller manager to start directory [/tmp/gazebo-nitin-0] already exists (previous crash?) but the owner gazebo server (pid=22380) is not running. deleting the old information of the directory [/tmp/gazebo-nitin-0] Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4] Gazebo successfully initialized [pr2_gazebo_model-3] process has finished cleanly. log file: /home/nitin/.ros/log/5268fd7c-8fe1-11df-b1d1-00248119e15c/pr2_gazebo_model-3*.log [ WARN] [6.652000000]: WARNING: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters. [ INFO] [6.652000000]: trigger_mode trigger_mode streaming [ WARN] [6.652000000]: WARNING: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters. [ INFO] [6.652000000]: starting gazebo_ros_controller_manager plugin in ns: / [ WARN] [6.652000000]: gazebo controller manager plugin is waiting for urdf: robot_description on the param server. [ INFO] [6.652000000]: gazebo controller manager got pr2.xml from param server, parsing it... [rospack] warning: trailing slash found in ROS_PACKAGE_PATH [ INFO] [6.652000000]: Callback thread id=0x971397a0 [ INFO] [6.666000000]: Initializing Imu sensor [ INFO] [6.685000000]: Imu sensor activated [INFO] 1279178384.821607: Tucking both left and right arm [rospack] warning: trailing slash found in ROS_PACKAGE_PATH [ WARN] [8.507000000]: Deprecation Warning: No '/' detected in FilterType, Please update to 1.2 plugin syntax. [ WARN] [8.507000000]: Replaced TransferFunctionFilterDouble with filters/TransferFunctionFilterDouble [ INFO] [8.509000000]: Trajectory:: interpolation type linear [ INFO] [8.509000000]: LaserScannerTrajController: Periodic Command set. Duration=1.0000 sec [ INFO] [8.520000000]: Successfully spawned [INFO] 1279178389.745870: Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller [INFO] 1279178389.794875: Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller [ INFO] [9.545000000]: Initializing Odom sensor [ INFO] [9.563000000]: Odom sensor activated [ INFO] [9.591000000]: Kalman filter initialized with odom measurement Laser Pose= 2.1465e-07 2.3657e-11 3.88691e-06 Thanks and regards nItin -- View this message in context: http://ros-users.122217.n3.nabble.com/building-a-map-in-simulation-tp965733p968969.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ ros-users mailing list ros-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/ros-users