[ros-users] slam_gmapping messages problem

[Brian Gerkey]

hi Enea,

I would guess that you're seeing the same problem with gmapping that
you had with amcl: a lack of up-to-date tf data is preventing the node
from processing sensor data.    Do you see any rosconsole output from
the gmapping node, perhaps complaints about a message filter throwing
away 100% of incoming messages?

	brian.

On Fri, Apr 23, 2010 at 5:53 AM, Enea Scioni
<enea.scioni at student.unife.it> wrote:
>
> Hi all again!
> First of all, thanks to brian and erik for replied me!
>
> Now I fixed my problems with tf stream data, and everything seems work fine.
> I also tried to use the navigation stack in a "fake enviroment" and It works
> fine too.
> I wrote "fake enviroment" because I used a fake map: infact I'm not able to
> build map using gmapping ros node yet.
>
> If I run my real record data, the gmapping node print on screen just few
> information, like:
>  -maxUrange 8.09 -maxUrange 8.09 -sigma     0.05 -kernelSize 1 -lstep 0.05
> -lobsGain 3 -astep 0.05
>  -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
>  -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
>  -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
> [ INFO] 0.000000000: Initialization complete
> update frame 0
> update ld=0 ad=0
> Laser Pose= 0 0 0
> m_count 0
> Registering First Scan
>
> and that's all. Instead, I expect more information like:
> update frame 35
> update ld=1.03982 ad=0.0612444
> Laser Pose= -0.116927 -1.9003 -1.90458
> m_count 3
> Average Scan Matching Score=902.834
> neff= 29.6043
> Registering Scans:Done
> update frame 39
> update ld=1.03922 ad=0.158316
> Laser Pose= -0.359376 -2.91043 -1.74626
> m_count 4
> Average Scan Matching Score=482.681
> neff= 14.5789
> *************RESAMPLE***************
> Deleting Nodes: 3 4 6 10 11 12 16 21 22 24 25 26 28 29 Done
> Deleting old particles...Done
> Copying Particles and  Registering  scans... Done
>
> That usually I gmapping print on screen if I use bagfile by willowgarage or
> a bag file created by a simulation (using ros/stage).
> I know that these informations are printed from gmapping code/libraries, and
> not from the wrapper, but the node appears like in "stand by", like if it's
> waiting for something.
> If I try to get the map using map_saver, I receive a map with only my last
> laser scan.
>
> Anybody knows how I can fix it, or where can I take a look in the code for
> understand how fix it?
>
> Thank you again!
> Enea Scioni
> --
> View this message in context: http://ros-users.122217.n3.nabble.com/slam-gmapping-messages-problem-tp676863p745574.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
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