I appreciate your help.<br>I want to generate tf statically so I use static_transform_publisher<br>Attached file is generated using view_frames and following code is launch file to generate tf.<br>Thank you in advance your help.<br>
<br>//////<br><br>&lt;launch&gt;<br>&lt;node pkg=&quot;tf&quot; type=&quot;static_transform_publisher&quot; name=&quot;link1_broadcaster&quot; args=&quot;0 0 0 0 0 0 base_footprint base_link 100&quot; /&gt;<br>&lt;node pkg=&quot;tf&quot; type=&quot;static_transform_publisher&quot; name=&quot;link2_broadcaster&quot; args=&quot;0 0 1.0 0 0 0 base_link base_laser 100&quot; /&gt;<br>
&lt;node pkg=&quot;tf&quot; type=&quot;static_transform_publisher&quot; name=&quot;link3_broadcaster&quot; args=&quot;0 0 0 0 0 0 odom base_footprint 100&quot; /&gt;<br>&lt;/launch&gt;<br><br>//////<br><br><br><div class="gmail_quote">
2010/11/19 Eitan Marder-Eppstein <span dir="ltr">&lt;<a href="mailto:eitan@willowgarage.com">eitan@willowgarage.com</a>&gt;</span><br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Eunchul Jeon,<div><br></div><div>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.</div>

<div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan<br><br><div class="gmail_quote"><div><div></div><div class="h5">On Thu, Nov 18, 2010 at 5:01 AM, eunchul Jeon <span dir="ltr">&lt;<a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a>&gt;</span> wrote:<br>

</div></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div></div><div class="h5">Hi, I&#39;m Eunchul Jeon, <br><br>I saw following warning when I run the rosrun gmapping slam_gmapping scan:=base_scan<br>

<br>[ 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.<br>


[ 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.<br><br>and I ran the roswtf command, and saw following warning<br>


<br>WARNING The following node subscriptions are unconnected:<br> * /rviz_1290083985383805192:<br>   * /scan<br>   * /reset_time<br> * /slam_gmapping:<br>   * /reset_time<br> * /LaserListener:<br>   * /base_scan1<br><br>

Maybe I need to connect reset_time node but I can&#39;t find any information about that.<br>
<br>Thank you in advance your help.<br clear="all"><br>-- <br>================================================<br>Eunchul Jeon<br><br>M.S. Student, Intelligent Systems and Neurobotics lab,<br>Dept. Computer Science, KAIST<br>


Science town, Daejeon, 305-701, South Korea<br>TEL: 82 42 350 3580<br>E-mail: <a href="mailto:jsharp@kaist.ac.kr" target="_blank">jsharp@kaist.ac.kr</a>, <a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a><br>

Homepage: <a href="http://isnl.kaist.ac.kr" target="_blank">http://isnl.kaist.ac.kr</a><br>
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<br></blockquote></div><br><br clear="all"><br>-- <br>================================================<br>Eunchul Jeon<br><br>M.S. Student, Intelligent Systems and Neurobotics lab,<br>Dept. Computer Science, KAIST<br>Science town, Daejeon, 305-701, South Korea<br>
TEL: 82 42 350 3580<br>E-mail: <a href="mailto:jsharp@kaist.ac.kr">jsharp@kaist.ac.kr</a>, <a href="mailto:jsharp83@gmail.com">jsharp83@gmail.com</a><br>Homepage: <a href="http://isnl.kaist.ac.kr">http://isnl.kaist.ac.kr</a><br>
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