Ming,

If you're trying to set the global frame of the costmap to "world" instead
of "map" in the launch file you posted, you have a spelling mistake that
will keep this from happening. Specifically, "global_costmap/global_fram"
should be "global_costmap/global_frame" for things to work. Also, if you're
trying to build up your own launch files for a robot, you'll want to check
out the following tutorial:
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup. If you're just
trying to run navigation in stage, you might want to take a look at the
move_base_stage package to see some example configurations.

Hope this helps,

Eitan


On Wed, May 12, 2010 at 6:27 AM, Enea Scioni
<enea.scioni@student.unife.it>wrote:

>
> Hi!
> If you using a Navigation stack, you should use an localization node, as
> "fake_localization", very useful in simulation, or "amcl" node, or others.
> If I don't make a mistake, usually these nodes publish the /map frame. I
> suggest also to be careful with the frame's name; sometimes I was stuck
> with
> this!
>
> Just for a test, you could think to use a static transform publisher
> http://www.ros.org/wiki/tf#static_transform_publisher
> to transform from /map frame (fixed frame respect the map) and your
> reference frame (sometimes people use /odom frame's name..)
>
> I hope to suggest something useful!
>
> Enea Scioni
> --
> View this message in context:
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> Sent from the ROS-Users mailing list archive at Nabble.com.
>
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