Navigation Stack + Hokuyo_node

edit

Ok, so I've been working with the navigation stack and I'm confused as to how to connect the hokuyo_node to everything. I keep getting the error

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.

and for everything I've tried nothing seems to get me past this. I was under the impression that AMCL would output what was needed from the laser data. My laser data tested in rviz seems to be fine.

Thanks ahead of time, and if you need more information that is question specific ill try to get it asap.

Edit 1 <----------------------------------------------> I'v been working through the navigation stack tutorials, as well as following the Ardros blog. and most of the stuff is the same for both.

my robot configuration launch file.

<launch>
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link base_laser 100" />
<node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
    <param name="frame_id" type="str" value="base_laser"/> 
    <!-- Set the port to connect to here -->
    <param name="port" type="string" value="/dev/ttyACM0"/> 
    <param name="intensity" type="bool" value="false"/>
</node>
<node name="arduino" pkg="ardros" type="arduino.py">
    <rosparam file="$(find ardros)/info/ardros.yaml" command="load" />
</node>

</launch>

Then my move_base.launch file

<launch>
<!-- Run the map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find ardros)/maps/map.pgm 0.05"/>
<!--- Run AMCL -->
    <include file="$(find ardros)/launch/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find ardros)/info/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find ardros)/info/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find ardros)/info/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find ardros)/info/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find ardros)/info/base_local_planner_params.yaml" command="load" />
</node>

</launch>

my amcl_diff.launch file

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="transform_tolerance" value="0.2" />
    <param name="gui_publish_rate" value="50.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="5000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.8"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.2"/>
    <param name="update_min_a" value="0.5"/>
    <param name="odom_frame_id" value="odom"/>
    <param ...