I'm trying to use gmapping in gazebo using [this](http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Make%20a%20map%20and%20navigate%20with%20it) tutorial but I'm getting an error for my local and global costmaps saying "no map received" and "no transform from [] to [map]."
When I run amcl in gazebo, however, I have no issues with the costmap generations and everything works flawlessly. I've seen a lot of other people having issues with "upside down" lasers when using gmapping in gazebo and I am wondering if I am having a similar issue.
When I run gmapping_demo.launch from the turtlebot_gazebo package, I get this output on terminal:
[ INFO ] : Laser is mounted upwards.
Laser Pose= -0.0866309 0.481637 -0.00628993
Is having a negative z component for the laser position an issue?
EDIT:
Here is my view_frames image:
[view_frames](https://drive.google.com/file/d/0ByyAP6RE2iT-NlJJRHhGTmpIMW8/view?usp=sharing)
Here is my roswtf output when I'm in the turtlebot_gazebo directory:
Loaded plugin tf.tfwtf
Package: turtlebot_gazebo
WARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latest================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /mobile_base_nodelet_manager:
* /cmd_vel_mux/input/safety_controller
* /mobile_base/sensors/core
* /cmd_vel_mux/input/navi
* /cmd_vel_mux/input/teleop
* /gazebo:
* /gazebo/set_link_state
* /mobile_base/commands/reset_odometry
* /gazebo/set_model_state
* /mobile_base/commands/motor_power
* /rviz:
* /move_base/global_costmap/costmap_updates
* /move_base/local_costmap/costmap
* /move_base/local_costmap/costmap_updates
* /move_base/NavfnROS/plan
* /particlecloud
* /map_updates
* /move_base/DWAPlannerROS/cost_cloud
* /move_base/DWAPlannerROS/global_plan
* /move_base/DWAPlannerROS/local_plan
* /move_base/DWAPlannerROS/trajectory_cloud
* /move_base/global_costmap/costmap
WARNING These nodes have died:
* spawn_turtlebot_model-3
Exception in thread /clock (most likely raised during interpreter shutdown):
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
File "/usr/lib/python2.7/threading.py", line 763, in run
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_pubsub.py", line 183, in robust_connect_subscriber
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 792, in receive_loop
: 'NoneType' object is not callable
And as an added bonus, here is my rqt_graph:
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