Gmapping tf problem

edit

Hi,

We are having problems with Gmapping. We are using a OMD10M-R2000 range finder and are getting odometry via RS232 from the robot. In RViz we get the following error: No transform from [] to [map]

when we start Gmapping with following launch file we get a warning: [ WARN] [1461833120.053747916]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

launch file: EDIT: old launch file

 <launch>

<node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000"  output="screen">
                <param name="scanner_ip" value="10.0.10.9"/>
                <param name="frame_id" value="/scan"/>
                <param name="scan_frequency" value="50"/>
                <param name="samples_per_scan" value="3600"/>
</node>



<arg name="scan_topic" value="r2000/scan" />
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

      <param name="map_update_interval" value="5.0"/>
      <param name="maxUrange" value="16.0"/>
      <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="srr" value="0.1"/>
      <param name="srt" value="0.2"/>
      <param name="str" value="0.1"/>
      <param name="stt" value="0.2"/>
      <param name="linearUpdate" value="1.0"/>
      <param name="angularUpdate" value="0.5"/>
      <param name="temporalUpdate" value="3.0"/>
      <param name="resampleThreshold" value="0.5"/>
      <param name="particles" value="30"/>
      <param name="xmin" value="-50.0"/>
      <param name="ymin" value="-50.0"/>
      <param name="xmax" value="50.0"/>
      <param name="ymax" value="50.0"/>
      <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="odom_frame" value="odom"/>


<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"/>
<remap from="scan" to="$(arg scan_topic)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.025"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value="-2.5" />
<param name="laser_z_max_value" value="3.5" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />    
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="pub_map_odom_transform" value="true"/>

    </node>

    <param name="robot_description" command="cat $(find urdf_agv)/src/my_agv.xml" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="tf_broadcaster" pkg="urdf_agv" type="tf_broadcaster" />     

</launch>

Our tf tree looks like this: map->odom->base_link EDIT: old tf tree

Our rqt_graph:

EDIT: old rqt_graph

Greetings,

Stijn

[EDIT] URDF file:

<robot name="agv">
  <link name="base_link" />
  <link name="scan_link" />

  <joint name="joint1" type="continuous">
    <parent link="base_link"/>
    <child link="scan_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 0" />
  </joint>

</robot>