<meta http-equiv="content-type" content="text/html; charset=utf-8">Ian,<div>Have you tried any of the tf troubleshooting suggestions? <a href="http://www.ros.org/wiki/tf/Troubleshooting">http://www.ros.org/wiki/tf/Troubleshooting</a> or the debugging tools? <a href="http://www.ros.org/wiki/tf/Debugging%20tools">http://www.ros.org/wiki/tf/Debugging%20tools</a></div>
<div><br></div><div><a href="http://www.ros.org/wiki/tf/Debugging%20tools"></a>Tully</div><br><div class="gmail_quote">On Sun, Sep 26, 2010 at 8:09 PM, ian_wk <span dir="ltr"><<a href="mailto:i2rshuttle@gmail.com">i2rshuttle@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><br>
Hi ROS community,<br>
<br>
I am having this transform problem regarding static map and odom. Rviz<br>
status show that it can receive the map but unable to transform from map<br>
--> odom.<br>
<br>
My map size is 560 x 1040 pixel<br>
<br>
My amcl file<br>
<launch><br>
<node pkg="amcl" type="amcl" name="amcl" respawn="true"><br>
param name="odom_model_type" value="diff"<br>
param name="odom_alpha5" value="0.1"<br>
param name="transform_tolerance" value="0.2"<br>
param name="gui_publish_rate" value="10.0"<br>
param name="laser_max_beams" value="30"<br>
param name="min_particles" value="500"<br>
param name="max_particles" value="5000"<br>
param name="kld_err" value="0.05"<br>
param name="kld_z" value="0.99"<br>
param name="odom_alpha1" value="0.2"<br>
param name="odom_alpha2" value="0.2"<br>
param name="odom_alpha3" value="0.8"<br>
param name="odom_alpha4" value="0.2"<br>
param name="laser_z_hit" value="0.5"<br>
param name="laser_z_short" value="0.05"<br>
param name="laser_z_max" value="0.05"<br>
param name="laser_z_rand" value="0.5"<br>
param name="laser_sigma_hit" value="0.2"<br>
param name="laser_lambda_short" value="0.1"<br>
param name="laser_lambda_short" value="0.1"<br>
param name="laser_model_type" value="likelihood_field"<br>
param name="laser_likelihood_max_dist" value="3.0"<br>
param name="update_min_d" value="0.2"<br>
param name="update_min_a" value="0.5"<br>
param name="odom_frame_id" value="odom"<br>
param name="base_frame_id" value="base_link"<br>
param name="global_frame_id" value="map"<br>
param name="resample_interval" value="1"<br>
param name="transform_tolerance" value="0.1"<br>
param name="recovery_alpha_slow" value="0.0"<br>
param name="recovery_alpha_fast" value="0.0"<br>
param name="initial_pose_x" value="6"<br>
param name="initial_pose_y" value="14"<br>
</node><br>
</launch><br>
<br>
My launch file<br>
<launch><br>
<master auto="start"/><br>
<br>
<!-- Run the map server --><br>
<node name="map_server" pkg="map_server" type="map_server" args="$(find<br>
p2os_launch)/navigation_params/map/map.yaml"><br>
param name="frame_id" type="str" value="map"<br>
</node><br>
<br>
<!-- Starts the visualizer using rviz --><br>
<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen"<br>
args="-d $(find p2os_launch)/navigation_params/rviz_config/rviz.vcg" /><br>
<br>
<include file="$(find p2os_launch)/navigation_params/amcl_node.xml"/><br>
<include file="$(find<br>
p2os_launch)/navigation_params/rviz_config/rviz.xml"/><br>
</launch><br>
<br>
Can someone point me to the right direction. Thanks.<br>
<br>
Cheers,<br>
Ian_wk<br>
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</font></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>