I can't think of any reason why gmapping could not run concurrently with the p2os driver.  All that the gmapping slam node needs is published laser scans and correct TF data.  I have not used the p2os, but I would think it gives this information already, if the gmapping system isn't working correctly then I would look at the laser topic and the transforms to make sure that they are publishing the correct data.  Specifically make sure your transforms are setup correctly.  Judging from your error: "...TF_OLD_DATA ignoring data from the past for frame /base_link at time..." I would say that there is something wrong with the transformations you have setup.

Hope that helps,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w@auburn.edu
wjwwood@gmail.com
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <nitinkdhiman@gmail.com> wrote:

Hi Rishi,
Then does that mean we cannot do concurrent mapping with currently ROS
packages. For pioneer, I heavily relying on p2os drivers.

Has any one tried concurrent localisation and mapping? May be using some
other setup??

Thank you,
Nitin
--
View this message in context: http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
Sent from the ROS-Users mailing list archive at Nabble.com.

------------------------------------------------------------------------------
This SF.net email is sponsored by Sprint
What will you do first with EVO, the first 4G phone?
Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first
_______________________________________________
ros-users mailing list
ros-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/ros-users
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users