Hi Pablo!

I did a typing mistake, I actually have a Pioneer P3dx and the teleoperation
node I use is teleop_base. As mentioned before, I am as well using ROSARIA
and am currently having some trouble with the creation of grid maps using
slam_gmapping :
http://code.ros.org/lurker/message/20100921.040041.9a7c3432.en.html. The
problem is that the maps I create usually overlap. I was told to verify that
the odometry was coherent using rviz and /odom as my fixed frame and I
noticed that only half the laser scans are placed on the map.

Since the map->odom transform is made by ROSARIA, I was wondering if you or
someone else had noticed a mistake in ROSARIA's code. I also wanted to add
that I used the transform node Raph posted previously (pioneer_tf.cpp) to
test if my problem was in the tf node I was using. However, the maps keep
overlapping.

Thank you all for your help :D.

Laura.
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