Renato, I don't know about the ROS ARIA node for the pioneer, however,
there is a ROS driver for the pioneer in the usc-ros-pkgs repository.
The stack has tutorials for using the gmapping package with a pioneer
and laser.

http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os

On Wed, Aug 11, 2010 at 6:07 AM, Renato Samperio
<mintaka_alnitak@hotmail.com> wrote:
> Dear ROS users,
>
> I would like to know if somebody can help me with my problem. I want to map
> with a Pioneer robot (with a ROSARIA node) and Sick laser (with a modified
> version of sicktoolbox_wrapper). They are producing a tf tree as showed in:
>
> http://yfrog.com/f/jkrobotframesp/
> *In case could be necessary I can share the launch file.
>
> The error I am obtaining is:
>
> "TF Exception that should never happen for sensor frame: , cloud frame:
> /base_scan, You requested a transform that is 9.976 seconds in the past,
> but the tf buffer only has a history of 9.971 seconds.
>  When trying to transform between /base_scan and /map."
>
> I thought the problem was the tf was not publishing the laser scans but the
> static scan transform seems to be faster than the C++ broadcaster. The last
> output from tf_monitor is:
>
> RESULTS: for all Frames
>
> Frames:
> Frame: /base_link published by /ROSARIA_client Average Delay: 0.00239482 Max
> Delay: 0.028034
> Frame: /base_scan published by /sscrovers_tf_static Average Delay:
> -0.0179362 Max Delay: 0.010168
> Frame: /odom published by /Gmapping Average Delay: 0.00222625 Max Delay:
> 0.026887
>
> All Broadcasters:
> Node: /Gmapping 20.0193 Hz, Average Delay: 0.00222625 Max Delay: 0.026887
> Node: /ROSARIA_client 10.0096 Hz, Average Delay: 0.00239482 Max Delay:
> 0.028034
> Node: /sscrovers_tf_static 45.3095 Hz, Average Delay: -0.0179362 Max Delay:
> 0.010168
>
>
> The problem is when I want to map as the scans are not representing the
> robot surroundings. The same tf tree structure works with simulated data on
> Stage for Gmapping but not in the robot. How can I assure Gmapping is
> obtaining scans and tf tree correctly?
> *In case could be useful, the bag I produced is here.
>
>
> Many thanks.
>
> Renato.
>
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