Nicolás,

The erratic stack in WG repository is not maintained anymore. Can you try an
erratic stack from our repository and see if it works better for you. I just
added a few demos of nav stack in there. The source code is available here:

http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/videre_erratic/

There are a few launch files in erratic_navigation_apps stack under
gazebo_demo folder that you might try.

Let me know if you have any problems.

Thanks,
Anton

2010/12/21 Nicolás Alvarez Picco <nicolasapicco@hotmail.com>

>  hi everyone!
> I am working with a simulated erratic model in gazebo, the model is the
> same that it is in the erratic simulation tutorial. The thing is that I have
> build a 3d map inside an empty world and i want to show that in rviz, so I
> am using the map server to show the map. As I have problems with the
> localization of the robot in the map that I showing in the rviz, I tried
> with the node fake-localization, but i have still drift with the laser
> points. Therefore my intention is to use the amcl node to have a better
> localization of my robot using the simulated laser info.
> I am launching this files:
>
> <launch>
>   <!-- this launch file corresponds to robot model in
> ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
>   <!-- start up wg world -->
>   <include file="$(find gazebo_worlds)/launch/testing_world.launch"/>
>   <!--<include file="$(find erratic_nav)/amcl.launch"/>  -->
>    <!-- Static transforms -->
>     <include file="$(find han_Scene)/launch/static_transforms.launch"/>
>
>   <!-- <node name="map_server" pkg="map_server" type="map_server"
> args="$(find han_Scene)/scenarios/bar/map_config.yaml" />-->
>
>   <!-- Create a transform sender for linking these frames.
>   <node name="tf_footprint_base" pkg="tf" type="static_transform_publisher"
> args="0 0 0 0 0 0 base_link base_footprint 40" />    -->
>
>   <!-- send pr2.xml to param server -->
>   <param name="robot_description" command="$(find xacro)/xacro.py '$(find
> erratic_gazebo)/robots/erratic.urdf.xacro'" />
>
>   <!-- push robot_description to factory and spawn robot in gazebo -->
>   <node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model"
> args="-z 0.051 -p robot_description spawn robot_description" respawn="false"
> output="screen" />
>
>   <!-- Controller Manager -->
>   <include file="$(find pr2_controller_manager)/controller_manager.launch"
> />
>
>   <!-- Fake Calibration -->
>   <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
> args="pub /calibrated std_msgs/Bool true" />
>
>   <!-- load controllers -->
>   <node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive"
> respawn="true" output="screen"/>
>
>     <!-- Fake Localization
>   <node name="fake_localization" pkg="fake_localization"
> type="fake_localization" /> -->
>
>   <node pkg="amcl" type="amcl" name="amcl">
>   <remap from="scan" to="/base_scan" />
>   </node>
>
> </launch>
>
>
>
> <launch>
>
>   <!-- start gazebo with an empty plane -->
>   <param name="/use_sim_time" value="true" />
>
>    <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find
> gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>
>
>   <!-- wg walls-->
>   <param name="walls" textfile="$(find
> han_Scene)/scenarios/bar/walls.model" />
>   <node name="xml2factor_wg_walls" pkg="gazebo" type="spawn_model"
> args="-gazebo -param walls -x -7.65 -y -7.65 -model walls" respawn="false"
> output="screen" />
> </launch>
>
> The thing is when I do this I have this error and its dies the amcl:
>
> [amcl-15] process has died [pid 902, exit code -6].
> log files:
> /home/robot/.ros/log/d5d7c27a-0d21-11e0-a4d4-0026b9e75b87/amcl-15*.log
>
> If I try the same without launching the map_server node there is no
> problem. So is the amcl incompatible with the gazebo's simulations? how can
> I do this?
>
> Thanks, i have try everything but I can't solve it.
>
> Nicolas
>
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