Hi,
I'm trying to set up gampping at the moment as a precursor to navigation. From looking at this forum it looks like this is a common issue ;-/ I've not figured out where I've gone wrong yet - hence my asking
Example output:
rosrun gmapping slam_gmapping scan:=scan
[ WARN] [1429307583.891858963]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.
[ INFO] [1429307604.753396726]: Laser is mounted upwards.
-maxUrange 9.99 -maxUrange 9.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
-srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
-linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
-xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1429307605.223722461]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0.907857 -1.12757 -0.760486
m_count 0
Registering First Scan
update frame 22
update ld=1.46004 ad=0.24062
Laser Pose= 0.333645 -0.51499 -0.973492
m_count 1
Average Scan Matching Score=104.801
neff= 4.89628
*************RESAMPLE***************
Deleting Nodes: 1 2 3 4 5 6 7 9 10 11 12 13 14 15 16 17 18 20 21 22 23 24 26 28 29 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
[ WARN] [1429307643.899521732]: MessageFilter [target=odom ]: Dropped 98.87% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.
I can't seem to get "ros.gmapping.message_notifier" to show up in rqt_console to figure out what's going on here. I think my tf tree is correct (image below from rosrun tf view_frames
This is rqt_console
[Screenshot from 2015-04-16 01:56:12.png](/upfiles/1429219331529519.png)
These two make up the important bits of the tf tree
[Screenshot from 2015-04-16 22:20:16.png](/upfiles/14292194158141463.png)
[Screenshot from 2015-04-16 22:20:32.png](/upfiles/14292194298737699.png)
and lastly my graph
Not sure if I need to change the transform some where. Any help much appreciated.
Thanks
Mark
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