Eunchul Jeon,

It seems likely that something is wrong in your tf tree when trying to
transform points from the laser frame to the odometric frame. Can you use a
tool like view_frames or tf_echo to find out what your tree looks like? In
particular you should be able to run tf_echo laser odom successfully before
expecting gmapping to work.

Hope this helps,

Eitan

On Thu, Nov 18, 2010 at 5:01 AM, eunchul Jeon <jsharp83@gmail.com> wrote:

> Hi, I'm Eunchul Jeon,
>
> I saw following warning when I run the rosrun gmapping slam_gmapping
> scan:=base_scan
>
> [ WARN] [1290084259.016741027]: Message from [/hokuyo_node] has a
> non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
> will likely not work in multi-robot systems.  This message will only print
> once.
> [ WARN] [1290084273.997493021]: MessageFilter [target=/odom ]: Dropped
> 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier]
> rosconsole logger to DEBUG for more information.
>
> and I ran the roswtf command, and saw following warning
>
> WARNING The following node subscriptions are unconnected:
>  * /rviz_1290083985383805192:
>    * /scan
>    * /reset_time
>  * /slam_gmapping:
>    * /reset_time
>  * /LaserListener:
>    * /base_scan1
>
> Maybe I need to connect reset_time node but I can't find any information
> about that.
>
> Thank you in advance your help.
>
> --
> ================================================
> Eunchul Jeon
>
> M.S. Student, Intelligent Systems and Neurobotics lab,
> Dept. Computer Science, KAIST
> Science town, Daejeon, 305-701, South Korea
> TEL: 82 42 350 3580
> E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com
> Homepage: http://isnl.kaist.ac.kr
> ================================================
>
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