Hi Ive been working on making a pioneer use gmapping and navigation and it has gone well and works, but when i look into the rxgraph some questions rise 1) why is there no /map topic publishing and why is movebase susbscribing to a /tf and not to a /map 2) Why is there so many /kinectbase_link nodes and what do these do? 3) why is there one node in a big double red circle?

I attached the rxgraph so any help would be great thanks

7.1.png

My Llaunch files are test.launch

launch> !-- kinect nodes --> include file="$(find opennicameradeprecated)/launch/openni_node.launch"/>

!-- opennimanager --> node pkg="nodelet" type="nodelet" name="opennimanager" output="screen" respawn="true" args="manager"/>

!-- throttling --> node pkg="nodelet" type="nodelet" name="pointcloudthrottle" args="load pointcloudtolaserscan/CloudThrottle opennimanager"> param name="maxrate" value="2"/> remap from="cloudin" to="/camera/depth/points"/> remap from="cloudout" to="cloudthrottled"/> /node>

!-- fake laser --> node pkg="nodelet" type="nodelet" name="kinectlaser" args="load pointcloudtolaserscan/CloudToScan opennimanager"> param name="outputframeid" value="/opennidepthframe"/> remap from="cloud" to="cloud_throttled"/> /node> /launch>

move_basecg.launch launch>

param name="navfn/allow_unknown" value="true"/>

node pkg="movebase" type="movebase" respawn="false" name="movebase" output="screen"> remap from="/odom" to="/pose" /> remap from="cmdvel" to="cmd_vel" />

param name="controller_frequency" value="6.0" />

rosparam file="$(find p2oslaunch)/costmapcommonparams.yaml" command="load" ns="globalcostmap" /> rosparam file="$(find p2oslaunch)/costmapcommonparams.yaml" command="load" ns="localcostmap" /> rosparam file="$(find p2oslaunch)/localcostmapparams.yaml" command="load" /> rosparam file="$(find p2oslaunch)/globalcostmapparams.yaml" command="load" /> rosparam file="$(find p2oslaunch)/baselocalplannerparams.yaml" command="load" ns="TrajectoryPlannerROS" />

/node> /launch>

launch_kinect.launch

launch>

!-- Publish tranformation --> !--node pkg="tf" type="statictransformpublisher" name="basetokinectbroadcaster" args="0.1905 0.0 0.2659 0 0 0 baselink openni_camera 20" /-->

!-- Start the kinect sensor --> include file="$(find pointcloudtolaserscan)/launch/test.launch"/>

/launch>

slam_cg.launch

launch>

!-- Publish tranformation --> node pkg="tf" type="statictransformpublisher" name="basetokinectbroadcaster" args="0.1905 0.0 0.2659 0 0 0 baselink openni_camera 20" />

!-- Start SLAM --> node pkg="gmapping" type="slamgmapping" name="slamgmapping" output="screen"> !--remap from="scan" to="basescan"/--> !--param name="odomframe" value="odom"/--> param name="mapupdateinterval" value="2.0"/> param name="maxUrange" value="6.0"/> param name="sigma" value="0.05"/> param name="kernelSize" value="1"/> param name="lstep" value="0.05"/> param name="astep" value="0.05"/> param name="iterations" value="5"/> param name="lsigma" value="0.075"/> param name="ogain" value="3.0"/> param name="lskip" value="0"/> param name="srr" value="0.01"/> param name="srt" value="0.02"/> param name="str" value="0.01"/> param name="stt" value="0.02"/> param name="linearUpdate" value="0.25"/> !-- param name="linearUpdate" value="0.5"/--> param name="angularUpdate" value="0.262"/> !--param name="angularUpdate" value="0.436"/--> param name="temporalUpdate" value="-1.0"/> param name="resampleThreshold" value="0.5"/> param name="particles" value="300"/> param name="xmin" value="-50.0"/> param name="ymin" value="-50.0"/> param name="xmax" value="50.0"/> param name="ymax" value="50.0"/> param name="delta" value="0.05"/> param name="llsamplerange" value="0.01"/> param name="llsamplestep" value="0.01"/> param name="lasamplerange" value="0.005"/> param name="lasamplestep" value="0.005"/> /node>

/launch>