Eltan
I appreciate your help.
I solved problem.
Thank you.
Eunchul
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,EitanOn 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,EitanOn 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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--
================================================
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
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users