I am trying to do Gmapping on P3DX using Hokuyo sensor and using RosAria in controlling.
I have seen many suggestion on doing TF like following tutorial.
In this tutorial, the code that transform odometry is below.
tf::Transform txOdom(odomQ, tf::Point((double) pos.getX()/1000.0, (double) pos.getY()/1000.0, pos.getTh())); tf.sendTransform(tf::StampedTransform(txOdom, ros::Time::now() ,"odom", "base_footprint"));
And the discussion below which one gave the code of tf from odometry to base divide by 1000 as well.
They all divided by 1000 in position from odometry. Why?
The problem I have when I divided by 1000 is gmapping seems to receive only first scan and do nothing else and wait for something. I guess Gmapping think the robot doesn't move. So, I tried to delete 1000 out and now Gmapping accept more data and make a map. I am not sure that I do it right or not in deleting 1000 out.
Could anyone explain the meaning of this? I would be very appreciated. like what is the unit from aria and RosAria and what is the unit gmapping want to receive?
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