[ros-users] gmapping errors

David Feil-Seifer david.feilseifer at gmail.com
Thu Jul 22 05:53:24 UTC 2010

We at USC have been using P2OS concurrently with gmapping for months
now, so I know that it CAN work. Let me help you debug this problem in
more detail. Can you do me a favor and send me a link to that bag file
that you recorded? Also, can you fill me in on what OS, ros release
and version of the p2os stack (preferably the output of svn info from
the p2os stack directory). That will help me figure this out in more

On Wed, Jul 21, 2010 at 10:02 PM, William Woodall <wjwwood at gmail.com> wrote:
> 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 at auburn.edu
> wjwwood at gmail.com
> 256-345-9938
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <nitinkdhiman at 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
>> --
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