Why TF tranformations from odometry to robot_base in P3DX devide by 1000?
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.
http://www.ist.tugraz.at/robotics/bin/view/Main/Poineer_mapping
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.
http://ros-users.122217.n3.nabble.com/Pioneer3-td1265101.html
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?
