ROS-Answers/Navigation/Gmapping

talkingrobots@dfki-delmarre:~$ rosrun gmapping slam_gmapping
[ WARN] [1328089186.417388000]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is will likely not work in multi-robot systems.  This message will only print once.
 -maxUrange 5.59 -maxUrange 5.59 -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] [1328089186.566536394]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0.004 0.044 -1.23918
m_count 0
Registering First Scan
update frame 787
update ld=0.0364379 ad=0.537018
Laser Pose= 0.016 0.01 -0.702165
m_count 1
Average Scan Matching Score=259.713
neff= 29.9735
Registering Scans:Done
update frame 795
update ld=0 ad=0.517728
Laser Pose= 0.016 0.01 -0.184438
m_count 2
Average Scan Matching Score=210.505
neff= 29.9748
Registering Scans:Done
update frame 808
update ld=0 ad=0.518125
Laser Pose= 0.016 0.01 0.333687
m_count 3
Average Scan Matching Score=212.815
neff= 29.9384
Registering Scans:Done
update frame 821
update ld=0 ad=0.51977
Laser Pose= 0.016 0.01 0.853457
m_count 4
Average Scan Matching Score=263.499
neff= 29.2989
Registering Scans:Done
update frame 834
update ld=0 ad=0.515251
Laser Pose= 0.016 0.01 1.36871
m_count 5
Average Scan Matching Score=290.531
neff= 29.1745
Registering Scans:Done
update frame 843
update ld=0 ad=0.527599
Laser Pose= 0.016 0.01 1.89631
m_count 6
Average Scan Matching Score=271.762
neff= 29.1236
Registering Scans:Done
update frame 856
update ld=0 ad=0.507731
Laser Pose= 0.016 0.01 2.40404
m_count 7
Average Scan Matching Score=297.781
neff= 29.0167
Registering Scans:Done
update frame 869
update ld=0 ad=0.527416
Laser Pose= 0.016 0.01 2.93145
m_count 8
Average Scan Matching Score=313.264
neff= 28.6815
Registering Scans:Done
update frame 882
update ld=0 ad=0.526359
Laser Pose= 0.016 0.01 -2.82537
m_count 9
Average Scan Matching Score=314.194
neff= 28.3305
Registering Scans:Done
update frame 889
update ld=0 ad=0.511959
Laser Pose= 0.016 0.01 -2.31341
m_count 10
Average Scan Matching Score=360.723
neff= 28.2849
Registering Scans:Done
update frame 902
update ld=0 ad=0.523772
Laser Pose= 0.016 0.01 -1.78964
m_count 11
Average Scan Matching Score=371.938
neff= 28.289
Registering Scans:Done
update frame 914
update ld=0 ad=0.514745
Laser Pose= 0.016 0.01 -1.2749
m_count 12
Average Scan Matching Score=318.611
neff= 28.284
Registering Scans:Done
update frame 1089
update ld=0 ad=0.520583
Laser Pose= 0.016 0.01 -0.754312
m_count 13
Average Scan Matching Score=287.319
neff= 28.2789
Registering Scans:Done
update frame 1097
update ld=0 ad=0.527005
Laser Pose= 0.016 0.01 -0.227307
m_count 14
Average Scan Matching Score=282.638
neff= 28.2776
Registering Scans:Done
update frame 1110
update ld=0 ad=0.509124
Laser Pose= 0.016 0.01 0.281817
m_count 15
Average Scan Matching Score=279.695
neff= 28.2743
Registering Scans:Done
update frame 1123
update ld=0 ad=0.526982
Laser Pose= 0.016 0.01 0.808799
m_count 16
Average Scan Matching Score=280.525
neff= 28.278
Registering Scans:Done
update frame 1136
update ld=0 ad=0.510319
Laser Pose= 0.016 0.01 1.31912
m_count 17
Average Scan Matching Score=294.537
neff= 28.2775
Registering Scans:Done
update frame 1145
update ld=0 ad=0.525019
Laser Pose= 0.016 0.01 1.84414
m_count 18
Average Scan Matching Score=322.711
neff= 28.2519
Registering Scans:Done
update frame 1158
update ld=0 ad=0.523876
Laser Pose= 0.016 0.01 2.36801
m_count 19
Average Scan Matching Score=328.57
neff= 28.255
Registering Scans:Done
update frame 1171
update ld=0 ad=0.512802
Laser Pose= 0.016 0.01 2.88082
m_count 20
Average Scan Matching Score=356.035
neff= 28.2979
Registering Scans:Done
update frame 1183
update ld=0 ad=0.525143
Laser Pose= 0.016 0.01 -2.87723
m_count 21
Average Scan Matching Score=326.054
neff= 28.1042
Registering Scans:Done
update frame 1190
update ld=0 ad=0.511789
Laser Pose= 0.016 0.01 -2.36544
m_count 22
Average Scan Matching Score=329.491
neff= 28.105
Registering Scans:Done
update frame 1203
update ld=0 ad=0.524952
Laser Pose= 0.016 0.01 -1.84049
m_count 23
Average Scan Matching Score=353.545
neff= 28.1036
Registering Scans:Done
update frame 1215
update ld=0 ad=0.524864
Laser Pose= 0.016 0.01 -1.31562
m_count 24
Average Scan Matching Score=379.425
neff= 28.1036
Registering Scans:Done
update frame 1232
update ld=0.001 ad=0.525439
Laser Pose= 0.017 0.01 -1.44384
m_count 25
Average Scan Matching Score=376.748
neff= 28.1122
Registering Scans:Done
^Cvirtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree