You can make rviz "remember" more by increasing the decay time in the laser display. Note that you are not actually mapping in the sense of doing SLAM. You're just accumulating scans. It looks like a coherent map because stage isn't adding any noise to the laser or odometry data. The intent of the tutorial is simply to demonstrate that stage is producing data. brian. On Jun 16, 2010 8:37 PM, "Narasimhan" wrote: thanks i uninstalled compiz and reinstalled hardware drivers and everything is fine now. just 1 last doubt. as i move the robot as per this tutorial http://www.ros.org/wiki/simulator_stage/Tutorials/SimulatingOneRobot SimulatingOneRobot in the rviz the past images gets erased as new places are discovered. is this normal. i hope u understand what i mean. when the robot starts from point say "A" and it moves and discovers more and more places in the map the previous places that it had already discovered(in rviz) gets erased. i think its due to limited buffer. -- View this message in context: http://ros-users.122217.n3.nabble.com/teleop-base-tp898951p901756.html Sent from the ROS-Users mailing list archive at Nabble.com. ---------------------------------------... 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