I'm trying to set up my robot as described in http://www.ros.org/wiki/navigation/Tutorials/RobotSetup. I'm using a PeopleBot (p2os) with a SICK scanner on the base.

When I get to the "create a map" stage, something goes wrong, and I'm not sure what. I start roscore, sicktoolboxwrapper, p2osdriver and my lasertorobot_transform, all of which I have confirmed works individually.

sicktoolboxwrapper publishes laserscans with "**frameid: laser" to "/scan**".

p2osdriver publishes, among other things, pose data with "**frameid: odom" and "childframeid: baselink" to "/pose", and also transform frames with "frameid: /odom" and "childframeid: /base_link**"

my Lasertorobottransform publishes transforms with "**frameid: /baselink", "childframe_id: /laser**"

I then create a bag with recordings of /scan and /tf, and play it back after setting the usesimtime preference to true and running "rosrun gmapping slam_gmapping".

slamgmapping does not give any output, and neither does running "rosrun mapserver map_save" after the bag has played back.

Am I missing some transformations, or is my current transformation not correct? When using the bag linked to from the tutorial (basiclocalizationstage.bag), everything works, and slam_gmapping gives output while playing back.

EDIT: Solved Well, don't I feel stupid. After hours of poking at this problem I find out what's wrong in half an hour after finally asking for help.

If anyone's interested, I had neglected to put a sleep in the body of my while loop for my robottolasertransform, making it publish data much more often than it should. This ended up with a bag file where there were no actual transform frames recorded from the p2osdriver, making mapping impossible.