cost-map parameters and gmapping with youbot

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Hi everyone. I'm having a hard time with simulating the SLAM algorithms using KUKA YOUBOT and ROS GAZEBO and RVIZ.

At the first, following the tutorial and modifying it in according to use it on the YOUBOT I was able to move the robot around in the GAZEBO and see the map in the rviz, however the output map was an empty image but still I could see it in the RVIZ.

Afterward I messed up with tf and costmaps trying to have an output map... It didn't work and I couldn't bring it in the previous condition.. I changed TF tree and costmaps parameters.
this is the frames tree:

PDF: docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit (Link Text) Image: docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit (Link Text)

and then after I messed up with costs-map parameters. afterward I have Cost-maps as following texts:

Common Parameters:

> map_type: costmap transform_tolerance:
> 0.2 obstacle_range: 2.5 raytrace_range: 3.0 inflation_radius:
> 0.25
> 
> observation_sources: base_scan
> 
> base_scan: {sensor_frame:
> base_laser_front_link,
>             data_type: LaserScan,
>             topic: /base_scan,
>             expected_update_rate: 0.0,
>             observation_persistence: 0.0,
>             marking: true,
>             clearing: true,
>             min_obstacle_height: -0.10,
>             max_obstacle_height: 2.0}

Global parameters #Independent settings for the planner's costmap

global_costmap:
    publish_voxel_map: true
    global_frame: /map
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false
    rolling_window: true

And the Local one: #Independent settings for the local costmap local_costmap: publish_voxel_map: true global_frame: /odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 10.0 height: 10.0 resolution: 0.5 origin_x: 0.0 origin_y: 0.0

Move_Base Parameters:

footprint: [[0.26, 0.18],
            [0.26, 0.014],
            [0.31, 0.014],
            [0.31, -0.014],
            [0.26, -0.014],
            [0.26, -0.18],
            [-0.27, -0.18],
            [-0.27, 0.18]]

controller_frequency: 10.0
controller_patience: 15.0
clearing_radius: 0.25
footprint_padding: 0.03

Base local planner parameters:

# Robot Configuration Parameters
TrajectoryPlannerROS:
    acc_lim_x: 1.25
    acc_lim_y: 1.25
    acc_lim_th: 1.6
    max_vel_x: 0.5
    min_vel_x: 0.1
    max_rotational_vel: 1.2
    min_in_place_rotational_vel: 0.1
    escape_vel: -0.1
    holonomic_robot: true

    # Goal Tolerance Parameters
    xy_goal_tolerance: 0.1
    yaw_goal_tolerance: 0.1

    # Forward Simulation Parameters
    sim_time: 1.7
    sim_granularity: 0.025
    vx_samples: 3
    vtheta_samples: 6

    # Trajectory Scoring Parameters
    goal_distance_bias: 0.8
    path_distance_bias: 0.6
    occdist_scale: 0.01
    heading_lookahead: 0.325
    dwa: false

    # Oscillation Prevention Parameters
    oscillation_reset_dist: 0.01

AMCL : <node pkg="tf" type="static_transform_publisher" name="basefootprint_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 100"/> <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 1"/>

<node pkg="amcl" type="amcl" name="amcl">
  <remap from="scan" to="base_scan"/>

  <param name="odom_model_type" value="omni"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="1.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0 ...