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Dear ROS users,<br><br>I would like to know if somebody can help me with my problem. I want to map with a Pioneer robot (with a ROSARIA node) and Sick laser (with a modified version of sicktoolbox_wrapper). They are producing a tf tree as showed in: <br><br>http://yfrog.com/f/jkrobotframesp/<br>*In case could be necessary I can share the <a href="http://subversion.assembla.com/svn/ssc-rovers/sscrovers-ros-pkg/launch/pioneer.launch">launch file</a>.<br><br>The error I am obtaining is:<br><br><font style="" color="#ff0000">"TF Exception that should never happen for sensor frame: , cloud frame: /base_scan, You requested a transform that is 9.976 seconds in the past, </font><font style="" color="#ff0000"><br></font><font style="" color="#ff0000">but the tf buffer only has a history of 9.971 seconds.</font><font style="" color="#ff0000"><br></font><font style="" color="#ff0000"> When trying to transform between /base_scan and /map."</font><br><br>I thought the problem was the tf was not publishing the laser scans but the static scan transform seems to be faster than the C++ broadcaster. The last output from tf_monitor is:<br><br>RESULTS: for all Frames<br><br>Frames:<br>Frame: /base_link published by /ROSARIA_client Average Delay: 0.00239482 Max Delay: 0.028034<br>Frame: /base_scan published by /sscrovers_tf_static Average Delay: -0.0179362 Max Delay: 0.010168<br>Frame: /odom published by /Gmapping Average Delay: 0.00222625 Max Delay: 0.026887<br><br>All Broadcasters:<br>Node: /Gmapping 20.0193 Hz, Average Delay: 0.00222625 Max Delay: 0.026887<br>Node: /ROSARIA_client 10.0096 Hz, Average Delay: 0.00239482 Max Delay: 0.028034<br>Node: /sscrovers_tf_static 45.3095 Hz, Average Delay: -0.0179362 Max Delay: 0.010168<br><br><br>The problem is when I want to map as the scans are not representing the robot surroundings. The same tf tree structure works with simulated data on Stage for Gmapping but not in the robot. How can I assure Gmapping is obtaining scans and tf tree correctly?<br>*In case could be useful, the bag I produced is <a href="http://subversion.assembla.com/svn/ssc-rovers/sscrovers-ros-pkg/sscrovers_2dnav/bags/sscrovers_2010-08-10-11-18-39.bag">here</a>.<br><br><br>Many thanks.<br><br>Renato.<br> </body>
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