David - I'm running Ubuntu 10.04, ROS 1.1.13-12 (installed through synaptic), revision 107 of p2os (modified 2010-07-13). Full SVN info output for p2os: Path: . URL: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os Repository Root: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg Repository UUID: 157d20ef-4c6e-4bb2-9484-52dd339cd29c Revision: 107 Node Kind: directory Schedule: normal Last Changed Author: dfseifer Last Changed Rev: 106 Last Changed Date: 2010-07-13 17:11:49 -0400 (Tue, 13 Jul 2010) Here is the bagfile that I just recorded: www.rbedi.net/2010-07-22-11-29-38.bag William - I didn't set anything up for my transforms -- I just set ROS to record the /tf topic -- is there any setting up I need to do? Thanks for all your help, Rishi On Thu, Jul 22, 2010 at 1:53 AM, David Feil-Seifer wrote: > We at USC have been using P2OS concurrently with gmapping for months > now, so I know that it CAN work. Let me help you debug this problem in > more detail. Can you do me a favor and send me a link to that bag file > that you recorded? Also, can you fill me in on what OS, ros release > and version of the p2os stack (preferably the output of svn info from > the p2os stack directory). That will help me figure this out in more > detail. > > On Wed, Jul 21, 2010 at 10:02 PM, William Woodall wrote: >> I can't think of any reason why gmapping could not run concurrently with the >> p2os driver.  All that the gmapping slam node needs is published laser scans >> and correct TF data.  I have not used the p2os, but I would think it gives >> this information already, if the gmapping system isn't working correctly >> then I would look at the laser topic and the transforms to make sure that >> they are publishing the correct data.  Specifically make sure your >> transforms are setup correctly.  Judging from your error: "...TF_OLD_DATA >> ignoring data from the past for frame /base_link at time..." I would say >> that there is something wrong with the transformations you have setup. >> Hope that helps, >> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ >> William Woodall >> Graduate Software Engineering >> Auburn University >> w@auburn.edu >> wjwwood@gmail.com >> 256-345-9938 >> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ >> >> >> On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman >> wrote: >>> >>> Hi Rishi, >>> Then does that mean we cannot do concurrent mapping with currently ROS >>> packages. For pioneer, I heavily relying on p2os drivers. >>> >>> Has any one tried concurrent localisation and mapping? May be using some >>> other setup?? >>> >>> Thank you, >>> Nitin >>> -- >>> View this message in context: >>> http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.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 >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >