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Hi,

I have my own simulator and I would like to use slam_gmapping package. I understood that I have to publish to two topics /scan and /tf. I understood the data sent to /scan, but /tf is a transformation, I understood how tf works with the ros tutorial but what data, transformation are expected ? a frame_id and a child_frame_id are requiered for each message. How can I decide which frame I need ? How to build the tree ? I saw that may be a basic tree is map -> odom -> base_link but which correspond to what ? I tried to publish to /scan and /tf but the gmapping doesn't initialize at all and answers me with a warning : [ WARN] [1433385884.267084755, 109.725132801]: MessageFilter [target=odom]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

I tried to figure it out, but I am a little desperate now. What did I miss ?

Thank you,


Originally posted by GG31 on ROS Answers with karma: 16 on 2015-06-12

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To answer to myself, slam_gmapping works with the clock, that means you have to publish to /clock, if not, nothing happens. Now, /tf of /map->/odom publishes 000 and 0001 for the rotation, but when I use slam_gmapping, it publishes nan values only. I think it is related to the first frame who has nan values : update ld=-nan ad=nan Laser Pose= -nan -nan -nan But I don't know why. What is ld? Laser Pose? How can I change this values?


Originally posted by GG31 with karma: 16 on 2015-06-16

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Original comments

Comment by dornhege on 2015-06-16:
You do not have to publish the clock! This is supposed to be the real time of the system and only published by simulation.

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