[ros-users] some problems when learning "Makeing collision maps from self=filtered tilting laser data"

[甄灵]

Dear all:

    I am learning "motion_planning_environment/Tutorials/Making collision
maps from self-filtered tilting laser data" in the address of "
http://www.ros.org/wiki/motion_planning_environment/Tutorials/Making%20collision%20maps%20from%20self-filtered%20tilting%20laser%20data".
And my work environment is Ubuntu 9.10 with 32bit.
When I type "roslaunch pr2_arm_navigation_tutorials
pr2_floorobj_world.launch",and the simulation window crashes. And it gets
the errors as following:
============================error=========================================
starting new master (master configured for auto start)
process[master]: started with pid [9932]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 8c73b5ca-bc87-11df-a116-001b2408559f
process[rosout-1]: started with pid [9945]
started core service [/rosout]
process[gazebo-2]: started with pid [9948]
process[pr2_gazebo_model-3]: started with pid [9949]
process[robot_state_publisher-4]: started with pid [9950]
process[pr2_mechanism_diagnostics-5]: started with pid [9951]
process[fake_joint_calibration-6]: started with pid [9952]
process[wide_stereo_proc-7]: started with pid [9953]
process[narrow_stereo_proc-8]: started with pid [9954]
process[narrow_stereo_textured_proc-9]: started with pid [9955]
process[image_proc-10]: started with pid [9956]
process[image_proc-11]: started with pid [9957]
process[diag_agg-12]: started with pid [9958]
process[pr2_dashboard_aggregator-13]: started with pid [9959]
process[robot_pose_ekf-14]: started with pid [9960]
process[base_hokuyo_node-15]: started with pid [9963]
process[tilt_hokuyo_node-16]: started with pid [9966]
process[camera_synchronizer_node-17]: started with pid [9967]
process[default_controllers_spawner-18]: started with pid [9968]
process[gripper_action_node-19]: started with pid [9969]
process[gripper_action_node-20]: started with pid [9970]
process[point_head_action-21]: started with pid [9971]
process[position_joint_action_node-22]: started with pid [9973]
Gazebo multi-robot simulator, version 0.10.0

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[ INFO] [1284087632.728199813]: Starting to spin camera_synchronizer at 0
Hz...
loading model xml from ros parameter
attempting to spawn robot in simulation
waiting for service spawn_urdf_model
XRequest.136: BadDrawable (invalid Pixmap or Window parameter) 0x4400002
do_wait: drmWaitVBlank returned -1, IRQs don't seem to be working correctly.
Try adjusting the vblank_mode configuration parameter.
Service call failed: transport error completing service call: unable to
receive data from sender, check sender's logs for details
spawning success None
[gazebo-2] process has died [pid 9948, exit code -11].
log files:
/home/jolin/.ros/log/8c73b5ca-bc87-11df-a116-001b2408559f/gazebo-2*.log

==============================end of
errors========================================
What should I do to solve this problem? Thanks in advanced!
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