gmapping成功例

ちゃんとデータが取得できていれば、

$ rosparam set use_sim_time true
$ rosrun gmapping slam_gmapping scan:=base_scan

[ WARN] [1371107390.467117000]: Message from [/play_1371107390179624793] has a non-fully-qualified frame_id [base_laser]. Resolved locally to [/base_laser].  This is will likely not work in multi-robot systems.  This message will only print once.
 -maxUrange 29.99 -maxUrange 29.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1371107390.678978102]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 0
Registering First Scan
update frame 47
update ld=0.8 ad=0.523599
Laser Pose= 0.8 1.65828e-14 0.523599
m_count 1
Average Scan Matching Score=854.654
neff= 29.8527
Registering Scans:Done
update frame 71
update ld=1.05 ad=0.418879
Laser Pose= 1.41717 0.849468 0.942478
m_count 2
Average Scan Matching Score=856.019
neff= 27.1904
Registering Scans:Done
update frame 87
update ld=1.05 ad=0.20944
Laser Pose= 1.99375 1.72269 1.15192
m_count 3
Average Scan Matching Score=796.11
neff= 26.1205
Registering Scans:Done
update frame 106
update ld=0.699817 ad=0.523599
Laser Pose= 2.1227 2.40394 1.67552
m_count 4
Average Scan Matching Score=771.9
neff= 26.2807
Registering Scans:Done
update frame 122
update ld=0.7 ad=0.523599
Laser Pose= 1.95273 3.07927 2.19911
m_count 5
Average Scan Matching Score=949.173
neff= 20.4178
Registering Scans:Done
update frame 143
update ld=1.0487 ad=0.418879
Laser Pose= 1.07985 3.64842 2.61799
m_count 6
Average Scan Matching Score=808.456
neff= 19.9011
Registering Scans:Done
update frame 156
update ld=1 ad=0
Laser Pose= 0.213829 4.14842 2.61799
m_count 7
Average Scan Matching Score=1042.43
neff= 19.7908
Registering Scans:Done
update frame 167
update ld=1.05 ad=0
Laser Pose= -0.695498 4.67342 2.61799
m_count 8
Average Scan Matching Score=1049.29
neff= 17.9192
Registering Scans:Done
update frame 180
update ld=1 ad=0
Laser Pose= -1.56152 5.17342 2.61799
m_count 9
Average Scan Matching Score=1045.9
neff= 15.042
Registering Scans:Done
update frame 195
update ld=1 ad=0
Laser Pose= -2.42755 5.67342 2.61799
m_count 10
Average Scan Matching Score=1049.49
neff= 14.0629
*************RESAMPLE***************
Deleting Nodes: 1 5 7 10 13 15 18 20 24 29 Done
Deleting old particles...Done
Copying Particles and  Registering  scans... Done
update frame 206
update ld=1.05 ad=0
Laser Pose= -3.33688 6.19842 2.61799
m_count 11
Average Scan Matching Score=1000.68
neff= 27.9716
Registering Scans:Done
update frame 221
update ld=1.05 ad=0
Laser Pose= -4.2462 6.72342 2.61799
m_count 12
Average Scan Matching Score=1019.46
neff= 22.3827
Registering Scans:Done
update frame 236
update ld=1 ad=0
Laser Pose= -5.11223 7.22342 2.61799
m_count 13
Average Scan Matching Score=1027.55
neff= 23.9302
Registering Scans:Done
update frame 247
update ld=1 ad=0
Laser Pose= -5.97825 7.72342 2.61799
m_count 14
Average Scan Matching Score=981.806
neff= 24.2981
Registering Scans:Done
update frame 256
update ld=0.65 ad=0.523599
Laser Pose= -6.54117 8.04842 3.14159
m_count 15
Average Scan Matching Score=1007.85
neff= 23.4956
Registering Scans:Done
update frame 277
update ld=1 ad=0.314159
Laser Pose= -7.50961 7.8212 -2.82743
m_count 16
Average Scan Matching Score=994.298
neff= 22.5139
Registering Scans:Done
update frame 286
update ld=1 ad=0
Laser Pose= -8.46067 7.51218 -2.82743
m_count 17
Average Scan Matching Score=1042.08
neff= 19.8097
Registering Scans:Done
update frame 301
update ld=1.05 ad=0
Laser Pose= -9.45928 7.18772 -2.82743
m_count 18
Average Scan Matching Score=1026.59
neff= 20.0614
Registering Scans:Done
update frame 315
update ld=1 ad=0
Laser Pose= -10.4103 6.8787 -2.82743
m_count 19
Average Scan Matching Score=902.971
neff= 19.4376
Registering Scans:Done
update frame 325
update ld=1.05 ad=0
Laser Pose= -11.4089 6.55423 -2.82743
m_count 20
Average Scan Matching Score=729.196
neff= 18.6279
Registering Scans:Done
update frame 340
update ld=1 ad=0
Laser Pose= -12.36 6.24521 -2.82743
m_count 21
Average Scan Matching Score=946.812
neff= 17.5826
Registering Scans:Done
update frame 355
update ld=1 ad=0
Laser Pose= -13.3111 5.9362 -2.82743
m_count 22
Average Scan Matching Score=841.935
neff= 15.6776
Registering Scans:Done
update frame 363
update ld=0.55 ad=0.523599
Laser Pose= -13.8341 5.76624 -2.30383
m_count 23
Average Scan Matching Score=1000.74
neff= 16.4195
Registering Scans:Done
update frame 381
update ld=1.05 ad=0.10472
Laser Pose= -14.4513 4.91677 -2.19911
m_count 24
Average Scan Matching Score=965.221
neff= 14.9075
*************RESAMPLE***************
Deleting Nodes: 2 4 6 7 12 13 16 19 21 22 23 25 29 Done
Deleting old particles...Done
Copying Particles and  Registering  scans... Done
[ WARN] [1371107540.373795521]: TF_OLD_DATA ignoring data from the past for frame /base_laser at time 34.8 according to authority /play_1371107540017157780
Possible reasons are listed at
[ WARN] [1371107540.380646903]: TF_OLD_DATA ignoring data from the past for frame /base_link at time 34.8 according to authority /play_1371107540017157780
Possible reasons are listed at
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 別の端末上で、

$ rosbag play basic_localization_stage.bag
WARNING: Package name "ROSARIA" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1371107540.028081515]: Opening basic_localization_stage.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
 [RUNNING]  Bag Time:     34.600000   Duration: 0.000000 / 1239670987.745222     [RUNNING]  Bag Time:     34.600319   Duration: 0.000319 / 1239670987.745222     [RUNNING]  Bag Time:     34.701407   Duration: 0.101407 / 1239670987.745222     [RUNNING]  Bag Time:     34.800593   Duration: 0.200593 / 1239670987.745222     [RUNNING]  Bag Time:     34.900553   Duration: 0.300553 / 1239670987.745222     [RUNNING]  Bag Time:     35.000529   Duration: 0.400529 / 1239670987.745222     [RUNNING]  Bag Time:     35.100520   Duration: 0.500520 / 1239670987.745222     [RUNNING]  Bag Time:     35.200620   Duration: 0.600620 / 1239670987.745222     [RUNNING]  Bag Time:     35.300555   Duration: 0.700555 / 1239670987.745222     [RUNNING]  Bag Time:     35.400574   Duration: 0.800574 / 1239670987.745222    
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別の端末上で、

$ rosrun map_server map_saver
[ INFO] [1371107455.577248822]: Waiting for the map
[ INFO] [1371107455.861227726]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1371107455.861317143]: Writing map occupancy data to map.pgm
[ INFO] [1371107456.226457886]: Writing map occupancy data to map.yaml
[ INFO] [1371107456.226627779]: Done

pgmファイルとyamlファイルが出力される