stereolabs/zed-ros-wrapper

publish tf for odom and map seems to be bugged with nan transform

khuechuong opened this issue · 2 comments

khuechuong commented

Preliminary Checks

  • This issue is not a duplicate. Before opening a new issue, please search existing issues.
  • This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I ran zed wrapper for zedm and I get this error:

at line 240 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)

I ran rostopic echo tf and I see this:

transforms:

header: 
  seq: 0
  stamp: 
    secs: 1694649918
    nsecs: 713624714
  frame_id: "odom"
child_frame_id: "base_link"
transform: 
  translation: 
    x: nan
    y: nan
    z: nan
  rotation: 
    x: nan
    y: nan
    z: nan
    w: nan

Steps to Reproduce

1.roslaunch zed_wrapper zedm.launch
2.rostopic echo tf
3.
...

Expected Result

normal run

Actual Result

nan transform error non stop

ZED Camera model

ZED Mini

Environment

ROS Noetic
Ubuntu 20.04

Anything else?

No response

Myzhar commented

Hi @khuechuong is your camera working correctly?
Can you open it with ZED Sensor Viewer and let me know if you can currently acquire inertial data?

khuechuong commented

After a while, I just decided to uninstall and reinstall plus reboot and that solved it.