Hi safdar,  I recommend you start with the slam_gmapping node&#39;s tutorials (<a href="http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData">http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData</a>).  Once you can generate a map from the given example bag, then you can experiment with the pioneer.  You can either rosbag the required information (/tf: provided by the p2os node, which is the node that interfaces with the pioneer, and the /scan topic which is provided by sicklms), or you can generate the map in real time.  I recommend starting with the rosbag technique because it is more like the tutorial.  Also, there is some information on how to setup and collect the data you need here: <a href="http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData#rosrecord">http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData#rosrecord</a>.  With this setup you have to teleop the robot around to collect data for the map.  If you want your robot to automatically explorer for you I recommend looking at Bosch&#39;s explore pkg: <a href="http://www.ros.org/wiki/explore">http://www.ros.org/wiki/explore</a><div>

<br></div><div>Hope that helps,</div><div><a href="http://www.ros.org/wiki/explore"></a><br clear="all">~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>William Woodall<br>Graduate Software Engineering<br>Auburn University<br><a href="mailto:w@auburn.edu">w@auburn.edu</a><br>

<a href="mailto:wjwwood@gmail.com">wjwwood@gmail.com</a><br>256-345-9938<br>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>
<br><br><div class="gmail_quote">On Mon, Aug 2, 2010 at 8:02 AM, safdar_zaman <span dir="ltr">&lt;<a href="mailto:safdaraslam@yahoo.com">safdaraslam@yahoo.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

<br>
Hi all,<br>
I want to make grid map using poineer.I run roscore,slam_gmapping, rviz and<br>
sicklms. What else node I need to run for having grid map???<br>
thanks in advance<br>
safdar<br>
--<br>
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