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:
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>
>
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