Ian,
Have you tried any of the tf troubleshooting suggestions?
http://www.ros.org/wiki/tf/Troubleshooting or the debugging tools?
http://www.ros.org/wiki/tf/Debugging%20tools

<http://www.ros.org/wiki/tf/Debugging%20tools>Tully

On Sun, Sep 26, 2010 at 8:09 PM, ian_wk <i2rshuttle@gmail.com> wrote:

>
> Hi ROS community,
>
> I am having this transform problem regarding static map and odom. Rviz
> status show that it  can receive the map but unable to transform from map
> --> odom.
>
> My map size is 560 x 1040 pixel
>
> My amcl file
> <launch>
> <node pkg="amcl" type="amcl" name="amcl" respawn="true">
>  param name="odom_model_type" value="diff"
>  param name="odom_alpha5" value="0.1"
>  param name="transform_tolerance" value="0.2"
>  param name="gui_publish_rate" value="10.0"
>  param name="laser_max_beams" value="30"
>  param name="min_particles" value="500"
>  param name="max_particles" value="5000"
>  param name="kld_err" value="0.05"
>  param name="kld_z" value="0.99"
>  param name="odom_alpha1" value="0.2"
>  param name="odom_alpha2" value="0.2"
>  param name="odom_alpha3" value="0.8"
>  param name="odom_alpha4" value="0.2"
>  param name="laser_z_hit" value="0.5"
>  param name="laser_z_short" value="0.05"
>  param name="laser_z_max" value="0.05"
>  param name="laser_z_rand" value="0.5"
>  param name="laser_sigma_hit" value="0.2"
>  param name="laser_lambda_short" value="0.1"
>  param name="laser_lambda_short" value="0.1"
>  param name="laser_model_type" value="likelihood_field"
>  param name="laser_likelihood_max_dist" value="3.0"
>  param name="update_min_d" value="0.2"
>  param name="update_min_a" value="0.5"
>  param name="odom_frame_id" value="odom"
>  param name="base_frame_id" value="base_link"
>  param name="global_frame_id" value="map"
>  param name="resample_interval" value="1"
>  param name="transform_tolerance" value="0.1"
>  param name="recovery_alpha_slow" value="0.0"
>  param name="recovery_alpha_fast" value="0.0"
>  param name="initial_pose_x" value="6"
>  param name="initial_pose_y" value="14"
> </node>
> </launch>
>
> My launch file
> <launch>
>  <master auto="start"/>
>
>  <!-- Run the map server -->
>  <node name="map_server" pkg="map_server" type="map_server" args="$(find
> p2os_launch)/navigation_params/map/map.yaml">
>        param name="frame_id" type="str" value="map"
>  </node>
>
>  <!-- Starts the visualizer using rviz -->
>   <node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen"
> args="-d $(find p2os_launch)/navigation_params/rviz_config/rviz.vcg" />
>
>  <include file="$(find p2os_launch)/navigation_params/amcl_node.xml"/>
>  <include file="$(find
> p2os_launch)/navigation_params/rviz_config/rviz.xml"/>
> </launch>
>
> Can someone point me to the right direction. Thanks.
>
> Cheers,
> Ian_wk
>
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-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827