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When the topic is remapped to /tf_static and passed to rviz2 an error is reported:
% ROS_DISCOVERY_SERVER="192.168.1.170:11812" rviz2 --ros-args --remap tf_static:=/ap/tf_static
[INFO] [1713794415.884889952] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1713794415.884937536] [rviz2]: OpenGl version: 2.1 (GLSL 1.2)
[INFO] [1713794415.921487525] [rviz2]: Stereo is NOT SUPPORTED
Error: TF_NAN_INPUT: Ignoring transform forchild_frame_id "GPS_0" from authority "Authority undetectable" because of a nan valuein the transform (0.000000 -0.000000 -0.000000) (nan nan nan nan)
at line 242 in /Users/rhys/Code/ros2/humble/ros2-humble/src/ros2/geometry2/tf2/src/buffer_core.cpp
Error: TF_DENORMALIZED_QUATERNION: Ignoring transform forchild_frame_id "GPS_0" from authority "Authority undetectable" because of an invalid quaternionin the transform (nan nan nan nan)
at line 259 in /Users/rhys/Code/ros2/humble/ros2-humble/src/ros2/geometry2/tf2/src/buffer_core.cpp
We need to check the ROS 2 convention for a zero quaternion and whether normalisation is required (i.e. w:=1.0).
Publishing an empty TFMessage suggests that normalisation must be applied:
Bug report
Issue details
The null quaternion in
/ap/tf_static
appears to cause issues when passed torviz2
. The quaternion has all fields set to zero:% ros2 topic echo /ap/tf_static transforms: - header: stamp: sec: 1713792800 nanosec: 232813000 frame_id: base_link child_frame_id: GPS_0 transform: translation: x: 0.0 y: -0.0 z: -0.0 rotation: x: 0.0 y: 0.0 z: 0.0 w: 0.0
When the topic is remapped to
/tf_static
and passed torviz2
an error is reported:We need to check the ROS 2 convention for a zero quaternion and whether normalisation is required (i.e.
w:=1.0
).Publishing an empty TFMessage suggests that normalisation must be applied:
Version
./waf configure --board MatekH743-bdshot --enable-dds --enable-ppp
Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ x] Plane
[ ] Rover
[ ] Submarine
Airframe type
Quadplane X
Hardware type
MatekH743-WING v3, RPi4
Logs
N/A
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