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Gmapping and tf

Hi all

My robot in rviz has some problems when i run gmapping launch file. the robot model and it's wheel got to take apart. How can i fix it. Sorry for my bad english. Thanks first.

Here is the image

image description

My launch file

<?xml version="1.0"?>

<launch> <arg name="model"/> <arg name="gui" default="False"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;="" <="" node="">

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <param name="publish_frequency" type="double" value="5.0" />
</node>
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />

<!--Mapping-->
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" >
    <param name="port" value="/dev/ttyUSB0" />                       <!--ttyUSB*-->
    <param name="baud" value="38400" />
    <param name="angle" value="180" />
    <param name="resolution" value="1.0" />
    <param name="units" value="mm" />
</node>

<!--TF-->
<node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf" type="static_transform_publisher" name="odom_2_base_link" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_laser_link" args="0.256 0 0.0925 0 0 0 1 /base_link /laser 100"/>

<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="/base_link" />
    <param name="odom_frame" value="/odom" />
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>        
    <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="minimumScore" value="100"/> -->
    <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="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="1"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="50"/>          <!--xxxxxxxxxxx-->

    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>

    <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"/>
    <param name="transform_publish_period" value="0.05"/>
    <remap from="scan" to="$(arg scan_topic)"/>
</node>

</launch>

Gmapping and tf

Hi all

My robot in rviz has some problems when i run gmapping launch file. the robot model and it's wheel got to take apart. How can i fix it. Sorry for my bad english. Thanks first.

Here is the image

image description

My launch file

<?xml version="1.0"?>

<launch> <arg name="model"/> <arg name="gui" default="False"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;="" <="" node="">

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <param name="publish_frequency" type="double" value="5.0" />
</node>
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />

<!--Mapping-->
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" >
    <param name="port" value="/dev/ttyUSB0" />                       <!--ttyUSB*-->
    <param name="baud" value="38400" />
    <param name="angle" value="180" />
    <param name="resolution" value="1.0" />
    <param name="units" value="mm" />
</node>

<!--TF-->
<node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf" type="static_transform_publisher" name="odom_2_base_link" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_laser_link" args="0.256 0 0.0925 0 0 0 1 /base_link /laser 100"/>

<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="/base_link" />
    <param name="odom_frame" value="/odom" />
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>        
    <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="minimumScore" value="100"/> -->
    <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="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="1"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="50"/>          <!--xxxxxxxxxxx-->

    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>

    <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"/>
    <param name="transform_publish_period" value="0.05"/>
    <remap from="scan" to="$(arg scan_topic)"/>
</node>

</launch>

My urdf model

<robot name="robot_seldat">

<link name="base_link" >
    <visual>
        <geometry>
            <box size="0.642 0.81 0.7"/> <!--kich thuoc robot-->
        </geometry>
        <origin rpy="0 0 0" xyz="-0.158 0 0.35"/> <!--vi tri so voi base link-->
        <material name="magenta"> <!--blue 0 0 255 0.6-->
            <color rgba="192 192 192 0.3"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <box size="0.642 0.81 0.7"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="100"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="laser_link" >
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0" /> 
        <geometry>
            <box size="0.156 0.155 0.185"/> <!--kich thuoc laser-->
        </geometry>
        <material name="blue">
            <color rgba="0 0 1 0.5"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <box size="0.156 0.155 0.185"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="LW" >
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/> <!--kich thuoc banh xe-->
        </geometry>
        <material name="black">
            <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="RW" >
    <visual>
        <origin xyz="0 0 0" rpy="-1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/>
        </geometry>
        <material name="black">
        <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<joint name="base_link_laser_link" type="fixed">
    <origin xyz="0.256 0 0.0925" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="laser"/>
</joint>

<joint name="base_link_RW" type="continuous">
    <origin xyz="0 -0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="RW"/>
</joint>

<joint name="base_link_LW" type="continuous">
    <origin xyz="0 0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="LW"/>
</joint>

</robot>

Gmapping and tf

Hi all

My robot in rviz has some problems when i run gmapping launch file. the robot model and it's wheel got to take apart. How can i fix it. Sorry for my bad english. Thanks first.

Here is the image

image description

My launch file

<?xml version="1.0"?>

<launch> <arg name="model"/> <arg name="gui" default="False"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;="" <="" node="">

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <param name="publish_frequency" type="double" value="5.0" />
</node>
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />

<!--Mapping-->
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" >
    <param name="port" value="/dev/ttyUSB0" />                       <!--ttyUSB*-->
    <param name="baud" value="38400" />
    <param name="angle" value="180" />
    <param name="resolution" value="1.0" />
    <param name="units" value="mm" />
</node>

<!--TF-->
<node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf" type="static_transform_publisher" name="odom_2_base_link" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_laser_link" args="0.256 0 0.0925 0 0 0 1 /base_link /laser 100"/>

<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="/base_link" />
    <param name="odom_frame" value="/odom" />
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>        
    <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="minimumScore" value="100"/> -->
    <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="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="1"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="50"/>          <!--xxxxxxxxxxx-->

    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>

    <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"/>
    <param name="transform_publish_period" value="0.05"/>
    <remap from="scan" to="$(arg scan_topic)"/>
</node>

</launch>

My urdf model

<robot name="robot_seldat">

name="robot_seldat">
    <link name="base_link" >
    <visual>
&gt;="" <visual="">
            <geometry>
             <box size="0.642 0.81 0.7"/> <!--kich thuoc robot-->
         </geometry>
         <origin rpy="0 0 0" xyz="-0.158 0 0.35"/> <!--vi tri so voi base link-->
         <material name="magenta"> <!--blue 0 0 255 0.6-->
             <color rgba="192 192 192 0.3"/>
         </material>
     </visual>
     <collision>
         <geometry>
                 <box size="0.642 0.81 0.7"/>
         </geometry>
     </collision>
     <inertial>
         <mass value="100"/>
         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
</link>

    </link>

<link name="laser_link" >
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0" /> 
        <geometry>
            <box size="0.156 0.155 0.185"/> <!--kich thuoc laser-->
        </geometry>
        <material name="blue">
            <color rgba="0 0 1 0.5"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <box size="0.156 0.155 0.185"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="LW" >
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/> <!--kich thuoc banh xe-->
        </geometry>
        <material name="black">
            <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="RW" >
    <visual>
        <origin xyz="0 0 0" rpy="-1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/>
        </geometry>
        <material name="black">
        <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<joint name="base_link_laser_link" type="fixed">
    <origin xyz="0.256 0 0.0925" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="laser"/>
</joint>

<joint name="base_link_RW" type="continuous">
    <origin xyz="0 -0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="RW"/>
</joint>

<joint name="base_link_LW" type="continuous">
    <origin xyz="0 0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="LW"/>
</joint>

</robot>

Gmapping and tf

Hi all

My robot in rviz has some problems when i run gmapping launch file. the robot model and it's wheel got to take apart. How can i fix it. Sorry for my bad english. Thanks first.

Here is the image

image description

My launch file

<?xml version="1.0"?>

<launch> <arg name="model"/> <arg name="gui" default="False"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;="" <="" node="">

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <param name="publish_frequency" type="double" value="5.0" />
</node>
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />

<!--Mapping-->
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" >
    <param name="port" value="/dev/ttyUSB0" />                       <!--ttyUSB*-->
    <param name="baud" value="38400" />
    <param name="angle" value="180" />
    <param name="resolution" value="1.0" />
    <param name="units" value="mm" />
</node>

<!--TF-->
<node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf" type="static_transform_publisher" name="odom_2_base_link" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_laser_link" args="0.256 0 0.0925 0 0 0 1 /base_link /laser 100"/>

<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="/base_link" />
    <param name="odom_frame" value="/odom" />
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>        
    <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="minimumScore" value="100"/> -->
    <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="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="1"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="50"/>          <!--xxxxxxxxxxx-->

    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>

    <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"/>
    <param name="transform_publish_period" value="0.05"/>
    <remap from="scan" to="$(arg scan_topic)"/>
</node>

</launch>

My urdf model

<robot name="robot_seldat"> name="robot_seldat">

<link name="base_link" &gt;="" <visual="">
    >
    <visual>
        <geometry>
             <box size="0.642 0.81 0.7"/>  <!--kich thuoc robot-->
        </geometry>
         <origin rpy="0 0 0" xyz="-0.158 0 0.35"/>  <!--vi tri so voi base link-->
        <material name="magenta">  <!--blue 0 0 255 0.6-->
            <color rgba="192 192 192 0.3"/>
         </material>
     </visual>
     <collision>
         <geometry>
                 <box size="0.642 0.81 0.7"/>
         </geometry>
     </collision>
     <inertial>
         <mass value="100"/>
         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
    </link>

</link>

<link name="laser_link" >
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0" /> 
        <geometry>
            <box size="0.156 0.155 0.185"/> <!--kich thuoc laser-->
        </geometry>
        <material name="blue">
            <color rgba="0 0 1 0.5"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <box size="0.156 0.155 0.185"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="LW" >
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/> <!--kich thuoc banh xe-->
        </geometry>
        <material name="black">
            <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="RW" >
    <visual>
        <origin xyz="0 0 0" rpy="-1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/>
        </geometry>
        <material name="black">
        <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<joint name="base_link_laser_link" type="fixed">
    <origin xyz="0.256 0 0.0925" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="laser"/>
</joint>

<joint name="base_link_RW" type="continuous">
    <origin xyz="0 -0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="RW"/>
</joint>

<joint name="base_link_LW" type="continuous">
    <origin xyz="0 0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="LW"/>
</joint>

</robot>

Gmapping and tf

Hi all

My robot in rviz has some problems when i run gmapping launch file. the robot model and it's wheel got to take apart. How can i fix it. Sorry for my bad english. Thanks first.

Here is the image

image description

My launch file

<?xml version="1.0"?>

<launch> <arg name="model"/> <arg name="gui" default="False"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;="" <="" node="">

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <param name="publish_frequency" type="double" value="5.0" />
</node>
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />

<!--Mapping-->
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" >
    <param name="port" value="/dev/ttyUSB0" />                       <!--ttyUSB*-->
    <param name="baud" value="38400" />
    <param name="angle" value="180" />
    <param name="resolution" value="1.0" />
    <param name="units" value="mm" />
</node>

<!--TF-->
<node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf" type="static_transform_publisher" name="odom_2_base_link" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_laser_link" args="0.256 0 0.0925 0 0 0 1 /base_link /laser 100"/>

<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="/base_link" />
    <param name="odom_frame" value="/odom" />
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>        
    <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="minimumScore" value="100"/> -->
    <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="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="1"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="50"/>          <!--xxxxxxxxxxx-->

    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>

    <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"/>
    <param name="transform_publish_period" value="0.05"/>
    <remap from="scan" to="$(arg scan_topic)"/>
</node>

</launch>

My urdf model

<robot name="robot_seldat">

<link name="base_link" >
    <visual>
        <geometry>
            <box size="0.642 0.81 0.7"/> <!--kich thuoc robot-->
        </geometry>
        <origin rpy="0 0 0" xyz="-0.158 0 0.35"/> <!--vi tri so voi base link-->
        <material name="magenta"> <!--blue 0 0 255 0.6-->
            <color rgba="192 192 192 0.3"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <box size="0.642 0.81 0.7"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="100"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="laser_link" >
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0" /> 
        <geometry>
            <box size="0.156 0.155 0.185"/> <!--kich thuoc laser-->
        </geometry>
        <material name="blue">
            <color rgba="0 0 1 0.5"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <box size="0.156 0.155 0.185"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="LW" >
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/> <!--kich thuoc banh xe-->
        </geometry>
        <material name="black">
            <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<link name="RW" >
    <visual>
        <origin xyz="0 0 0" rpy="-1.57 0 0" />
        <geometry>
            <cylinder length="0.1" radius="0.1225"/>
        </geometry>
        <material name="black">
        <color rgba="0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
                <cylinder length="0.1" radius="0.1225"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="10"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
</link>

<joint name="base_link_laser_link" type="fixed">
    <origin xyz="0.256 0 0.0925" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="laser"/>
</joint>

<joint name="base_link_RW" type="continuous">
    <origin xyz="0 -0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="RW"/>
</joint>

<joint name="base_link_LW" type="continuous">
    <origin xyz="0 0.275 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="LW"/>
</joint>

</robot>