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The logs are quite clear: your global cost map is waiting for map -> base_link transformation available. Usually this transformation need two others to be calculated:

• map -> odom, broadcasted by amcl;

Run

rosrun tf view_frames


The logs are quite clear: your global cost map is waiting for map -> base_link transformation available. Usually this transformation need two others to be calculated:

• map -> odom, broadcasted by amcl;

Run

rosrun tf view_frames


UPDATE

As I supposed odom -> base_link transformation is missing!!

And why I can't see the laser scan ?

This is crucial since you set RViz to use map as fixed frame. Laser scan is attached to base_laser_link and, in order to show it in map frame, a transformation is needed but, as you can see from the tree, there is no linkage from base_laser_link and map.

Next question should be: why odom -> base_link is missing? I have no experience with neato robot but from you log I can see:

NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)


It seems that the neato node (who have to publish odom -> base_link transformation, odom and laser data) was not started! Please use

rqt_graph


and post the result (this tool will show all running node and published/subscribed topic). Try also:

rostopic list


to check all published topics.

The logs are quite clear: your global cost map is waiting for map -> base_link transformation available. Usually this transformation need two others to be calculated:

• map -> odom, broadcasted by amcl;

Run

rosrun tf view_frames


UPDATE

As I supposed odom -> base_link transformation is missing!!

And why I can't see the laser scan ?

This is crucial since you set RViz to use map as fixed frame. Laser scan is attached to base_laser_link and, in order to show it in map frame, a transformation is needed but, as you can see from the tree, there is no linkage from base_laser_link and map.

Next question should be: why odom -> base_link is missing? I have no experience with neato robot but from you log I can see:

NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)


It seems that the neato node (who have to publish odom -> base_link transformation, odom and laser data) was not started! Please use

rqt_graph


and post the result (this tool will show all running node and published/subscribed topic). Try also:

rostopic list


to check all published topics.

UPDATE

neato node is running, this is ok. base_scan is published too but not subscribed by gmapping (as shown by rqt_graph) since it expect it as scan topic. You have to remap base_scan to scan when launch gmapping.

Furthermore try:

rostopic echo base_scan


This will print out the published laser scan data. With this command we can be sure some data is published and you can also check (in the printed message header) to which frame the laser data is attached to. Set this frame as fixed frame in RViz and you should be able to see scan data.