Hi Pooja,
Thank you so much! I'm thrilled to hear you got it working. I fixed the
transforms in test_bag.launch; all the correct transforms should now be
published.
If you already have a map server running, you simply need to input the
initial pose of the robot in the map as a transform between the /pgraph and
/map frames as a static tf transform publisher, which can be done in the
launch file (see below) or as a separate node that takes the initial pose as
an input from somewhere (i.e., initialpose topic from rviz) and publishes it
to tf.

<node name="pgraph_tf_publisher" pkg="tf" type="static_transform_publisher"
args="-30 -5 0.0 0.0 0.0 -0.37 0.92 /pgraph /map 50" />

Please let me know if you have any more issues.
Thanks,
Helen

On Mon, Aug 23, 2010 at 2:18 PM, poojav <poojavish@gmail.com> wrote:

>
> This tutorial was fantastic! We did manage to get stereo_vslam working with
> our own live data.  Now, we'd like to visualize our visual odometry results
> on a laser map we have of our lab.  I tried to initially just visualize on
> top of the willow garage map using the test_bag.launch file (which works
> perfectly with the tutorial vslam bag), changing group ns=wide_stereo to
> our
> camera name, as we did in stereo_vslam, and running wgf_slam.vcg in rviz.
> However, this does not work since it looks like we're missing some of the
> tf
> data published by the tutorial bag.  Would you be able to tell us what data
> we need to display visual odometry on a map, and how to go about publishing
> this data?  Thanks!
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/vSLAM-demo-tp966627p1300447.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
>
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