Hello there,

I am trying to get the navigation stack and gmapping to work together, I get
a couple of errors that I have spent many hours on that I cannot seem to
solve. I have not used ros extensively but have been able to drive the robot
around using my computer and create maps with the gmapping package.

This is the first error:
[ERROR] [1296247552.958952582]: Client [/move_base] wants topic /initialpose
to have datatype/md5sum
[sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version
has
[geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246].
Dropping connection.

Pretty sure this is due to rviz publishing a geometry_msgs/PoseWithCovarianceStamped on the /initialpose topic, while move_base is subscribing to that topic and expecting a sensor_msgs/PointCloud. What were you trying to achieve by feeding that in as an observation source to your costmaps?

- Eric

The second error is:
[ WARN] [1296247614.045447300]: The origin for the sensor at (0.11, -0.01,
0.13) is out of map bounds. So, the costmap cannot raytrace for it.

I am able to see gmapping start creating a map in rviz, however, when I give
rviz a navigation goal the robot rotates a few degrees and the map bounds
error appears.

I have attached many of the files that I use for you to view.

Any suggestions on how to fix this would be greatly appreciated.

Thanks!
http://ros-users.122217.n3.nabble.com/file/n2368030/move_base.launch
move_base.launch
http://ros-users.122217.n3.nabble.com/file/n2368030/aten_configuration.launch
aten_configuration.launch
http://ros-users.122217.n3.nabble.com/file/n2368030/local_costmap_params.yaml
local_costmap_params.yaml
http://ros-users.122217.n3.nabble.com/file/n2368030/global_costmap_params.yaml
global_costmap_params.yaml
http://ros-users.122217.n3.nabble.com/file/n2368030/costmap_common_params.yaml
costmap_common_params.yaml
http://ros-users.122217.n3.nabble.com/file/n2368030/base_local_planner_params.yaml
base_local_planner_params.yaml
http://ros-users.122217.n3.nabble.com/file/n2368030/frames.pdf frames.pdf

http://ros-users.122217.n3.nabble.com/file/n2368030/Screenshot.png
Screenshot.png
http://ros-users.122217.n3.nabble.com/file/n2368030/Screenshot-2.png
Screenshot-2.png

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