<div><meta http-equiv="content-type" content="text/html; charset=utf-8"><span class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; ">Eunchul,</span></div><div><span class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; "><br>
</span></div>It looks like the frame_id in your tf tree for your laser is called "base_laser" but the frame_id used in your laser scan message is just "laser."<div><br></div><div>Also, publishing the transform between odom and base_footprint statically won't work for gmapping. You'll need an actual odometry source publishing to tf for gmapping to work.</div>
<div><div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan<br><br><div class="gmail_quote">On Thu, Nov 18, 2010 at 5:36 PM, eunchul Jeon <span dir="ltr"><<a href="mailto:jsharp83@gmail.com">jsharp83@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">I appreciate your help.<br>I want to generate tf statically so I use static_transform_publisher<br>Attached file is generated using view_frames and following code is launch file to generate tf.<div class="im">
<br>Thank you in advance your help.<br>
<br></div>//////<br><br><launch><br><node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 base_footprint base_link 100" /><br><node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 1.0 0 0 0 base_link base_laser 100" /><br>
<node pkg="tf" type="static_transform_publisher" name="link3_broadcaster" args="0 0 0 0 0 0 odom base_footprint 100" /><br></launch><br><br>//////<br><br><br><div class="gmail_quote">
2010/11/19 Eitan Marder-Eppstein <span dir="ltr"><<a href="mailto:eitan@willowgarage.com" target="_blank">eitan@willowgarage.com</a>></span><div><div></div><div class="h5"><br><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
Eunchul Jeon,<div><br></div><div>It seems likely that something is wrong in your tf tree when trying to transform points from the laser frame to the odometric frame. Can you use a tool like view_frames or tf_echo to find out what your tree looks like? In particular you should be able to run tf_echo laser odom successfully before expecting gmapping to work.</div>
<div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan<br><br><div class="gmail_quote"><div><div></div><div>On Thu, Nov 18, 2010 at 5:01 AM, eunchul Jeon <span dir="ltr"><<a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a>></span> wrote:<br>
</div></div><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex"><div><div></div><div>Hi, I'm Eunchul Jeon, <br><br>I saw following warning when I run the rosrun gmapping slam_gmapping scan:=base_scan<br>
<br>[ WARN] [1290084259.016741027]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.<br>
[ WARN] [1290084273.997493021]: MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.<br><br>and I ran the roswtf command, and saw following warning<br>
<br>WARNING The following node subscriptions are unconnected:<br> * /rviz_1290083985383805192:<br> * /scan<br> * /reset_time<br> * /slam_gmapping:<br> * /reset_time<br> * /LaserListener:<br> * /base_scan1<br><br>
Maybe I need to connect reset_time node but I can't find any information about that.<br>
<br>Thank you in advance your help.<br clear="all"><br>-- <br>================================================<br>Eunchul Jeon<br><br>M.S. Student, Intelligent Systems and Neurobotics lab,<br>Dept. Computer Science, KAIST<br>
Science town, Daejeon, 305-701, South Korea<br>TEL: 82 42 350 3580<br>E-mail: <a href="mailto:jsharp@kaist.ac.kr" target="_blank">jsharp@kaist.ac.kr</a>, <a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a><br>
Homepage: <a href="http://isnl.kaist.ac.kr" target="_blank">http://isnl.kaist.ac.kr</a><br>
================================================<br>
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<br></blockquote></div></div></div><div><div></div><div class="h5"><br><br clear="all"><br>-- <br>================================================<br>Eunchul Jeon<br><br>M.S. Student, Intelligent Systems and Neurobotics lab,<br>
Dept. Computer Science, KAIST<br>Science town, Daejeon, 305-701, South Korea<br>
TEL: 82 42 350 3580<br>E-mail: <a href="mailto:jsharp@kaist.ac.kr" target="_blank">jsharp@kaist.ac.kr</a>, <a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a><br>Homepage: <a href="http://isnl.kaist.ac.kr" target="_blank">http://isnl.kaist.ac.kr</a><br>
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