Eunchul,

It looks like the frame_id in your tf tree for your laser is called
"base_laser" but the frame_id used in your laser scan message is just
"laser."

Also, publishing the transform between odom and base_footprint statically
won't work for gmapping. You'll need an actual odometry source publishing to
tf for gmapping to work.

Hope this helps,

Eitan

On Thu, Nov 18, 2010 at 5:36 PM, eunchul Jeon <jsharp83@gmail.com> wrote:

> I appreciate your help.
> I want to generate tf statically so I use static_transform_publisher
> Attached file is generated using view_frames and following code is launch
> file to generate tf.
>
> Thank you in advance your help.
>
> //////
>
> <launch>
> <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster"
> args="0 0 0 0 0 0 base_footprint base_link 100" />
> <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster"
> args="0 0 1.0 0 0 0 base_link base_laser 100" />
> <node pkg="tf" type="static_transform_publisher" name="link3_broadcaster"
> args="0 0 0 0 0 0 odom base_footprint 100" />
> </launch>
>
> //////
>
>
> 2010/11/19 Eitan Marder-Eppstein <eitan@willowgarage.com>
>
> 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
>>> ================================================
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users@code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
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>>
>
>
> --
> ================================================
> 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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>