Hello friends,

I have Cturtle installed using debs released on August03,10 for Lucid Lynx
on Debian Squeeze.

I am trying to run tutorial1.cpp of Karto Slam. 
Karto package has launch file karto_stage.launch. 
First it reports about abscence of 2dnav_stage package. Which is not present
in https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle 

Changing path for world file to package 2dnav_slam_stage and launching it,
Stage do not shows anything and rviz is empty.

Following is the output:

process[voxel_visualizer-5]: started with pid [14971]
process[slam_karto-6]: started with pid [14984]
[ WARN] [1280992699.713083370]: Message from [/stageros] has a
non-fully-qualified frame_id [base_laser_link]. Resolved locally to
[/base_laser_link].  This is will likely not work in multi-robot systems. 
This message will only print once.
[ INFO] [1280992699.714978931, 0.400000000]: laser base_laser_link's pose
wrt base: 0.275 0.000 0.000
[ INFO] [1280992699.953668485, 0.600000000]: Subscribed to Topics: base_scan
[ INFO] [1280992699.984762245, 0.600000000]: Requesting the map...

[ INFO] [1280992699.986132531, 0.600000000]: Still waiting on map...

[ INFO] [1280992700.907246592, 1.600000000]: Still waiting on map...

[ INFO] [1280992701.920094453, 2.600000000]: Received a 0 X 0 map at
0.050000 m/pix

[ WARN] [1280992701.942543466, 2.600000000]: The base_scan observation
buffer has not been updated for 1.00 seconds, and it should be updated every
0.40 seconds.
[ INFO] [1280992701.951922032, 2.600000000]: MAP SIZE: 0, 0
[ INFO] [1280992701.957366230, 2.600000000]: Subscribed to Topics: base_scan
[ WARN] [1280992702.083626350, 2.700000000]: The base_scan observation
buffer has not been updated for 1.10 seconds, and it should be updated every
0.40 seconds.
[ WARN] [1280992702.106022004, 2.800000000]: The base_scan observation
buffer has not been updated for 1.20 seconds, and it should be updated every
0.40 seconds.

Following is the ouput of roswtf
WARNING The following node subscriptions are unconnected:
 * /local_costmap/voxel_grid_throttle:
   * /local_costmap/voxel_grid
 * /move_base_node:
   * /tf_message
   * /move_base/cancel
 * /voxel_visualizer:
   * /move_base_node/local_costmap/voxel_grid_throttled
 * /rviz:
   * /particlecloud
   * /base_scan_throttled

WARNING The following nodes are unexpectedly connected:
 * /voxel_visualizer->/rosout (/rosout)
 * /slam_karto->/rosout (/rosout)
 * /local_costmap/voxel_grid_throttle->/rosout (/rosout)
 * /move_base_node->/rosout (/rosout)
 * /rviz->/rosout (/rosout)
 * /stageros->/rosout (/rosout)

For running it, first world file needs upgradation so that pose is defined
now as (x,y,z,yaw). I am not able to find reason for this. Any solutions?


thank you
nitin
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