Cristobal,<br><br>Looks like the p2os node is not publishing a /odom topic. It does look like it is publishing on /pose with messages of type nav_msgs/Odometry, so you should be able to remap topics. See <a href="http://www.ros.org/wiki/Remapping%20Arguments">http://www.ros.org/wiki/Remapping%20Arguments</a> for details on how to remap the topic names. If you still have problems after reading that, post back with exactly how you launch p2os and the nav stack so that we can help you remap topics properly.<br>
<br>- Eric<br><br><div class="gmail_quote">On Mon, Jan 17, 2011 at 10:47 AM, cristobal.vio <span dir="ltr"><<a href="mailto:cristobal.vio@gmail.com">cristobal.vio@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<br>
Thanks for your reply<br>
Today I had access to the pioneer, so im able to answer you just now.<br>
Here's the rxgraph while running all necesary nodes.<br>
<br>
in png:<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2273634/screenshots.png" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2273634/screenshots.png</a><br>
in dot:<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2273634/rviz_nav.dot" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2273634/rviz_nav.dot</a><br>
rviz_nav.dot<br>
<br>
and the output of "rostopic list" is the following<br>
<br>
/aio<br>
/amcl_pose<br>
/battery_state<br>
/cmd_motor_state<br>
/cmd_vel<br>
/diagnostics<br>
/dio<br>
/goal<br>
/gripper_control<br>
/gripper_state<br>
/initialpose<br>
/laser/parameter_descriptions<br>
/laser/parameter_updates<br>
/map<br>
/map_metadata<br>
/motor_state<br>
/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles<br>
/move_base/NavfnROS/NavfnROS_costmap/obstacles<br>
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint<br>
/move_base/NavfnROS/NavfnROS_costmap/unknown_space<br>
/move_base/NavfnROS/plan<br>
/move_base/TrajectoryPlannerROS/global_plan<br>
/move_base/TrajectoryPlannerROS/local_plan<br>
/move_base/cancel<br>
/move_base/current_goal<br>
/move_base/feedback<br>
/move_base/global_costmap/inflated_obstacles<br>
/move_base/global_costmap/obstacles<br>
/move_base/global_costmap/robot_footprint<br>
/move_base/global_costmap/unknown_space<br>
/move_base/goal<br>
/move_base/local_costmap/inflated_obstacles<br>
/move_base/local_costmap/obstacles<br>
/move_base/local_costmap/robot_footprint<br>
/move_base/local_costmap/unknown_space<br>
/move_base/result<br>
/move_base/status<br>
/move_base_simple/goal<br>
/odom<br>
/particlecloud<br>
/pose<br>
/ptz_control<br>
/ptz_state<br>
/reset_time<br>
/rosout<br>
/rosout_agg<br>
/scan<br>
/sonar<br>
/tf<br>
/tf_message<br>
/topic_name<br>
<br>
I hope you can tell some more with this info.<br>
Waiting for your answer. Thanks in advance.<br>
<br>
Cristóbal<br>
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