[ros-users] gmapping errors

Rishi Bedi rbedi100 at gmail.com
Thu Jul 22 15:34:21 UTC 2010


David - I'm running Ubuntu 10.04, ROS 1.1.13-12 (installed through
synaptic), revision 107 of p2os (modified 2010-07-13).
Full SVN info output for p2os:

Path: .
URL: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os
Repository Root: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg
Repository UUID: 157d20ef-4c6e-4bb2-9484-52dd339cd29c
Revision: 107
Node Kind: directory
Schedule: normal
Last Changed Author: dfseifer
Last Changed Rev: 106
Last Changed Date: 2010-07-13 17:11:49 -0400 (Tue, 13 Jul 2010)

Here is the bagfile that I just recorded: www.rbedi.net/2010-07-22-11-29-38.bag

William - I didn't set anything up for my transforms -- I just set ROS
to record the /tf topic -- is there any setting up I need to do?

Thanks for all your help,
Rishi


On Thu, Jul 22, 2010 at 1:53 AM, David Feil-Seifer
<david.feilseifer at gmail.com> wrote:
> 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
> detail.
>
> 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
>>> --
>>> View this message in context:
>>> http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
>>> Sent from the ROS-Users mailing list archive at Nabble.com.
>>>
>>>
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