Question

I am using package of aruco from this link aruco ros when I change the matrix "rotatetoros" in "arucorosutils.cpp" to be [1 0 0;0 0 1;0 1 0] I have the following error:

Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "marker_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (-0.029012 -0.264665 -0.742686 0.526990)
     at line 257 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

could any one help, please?

Asked by nana on 2019-07-26 10:53:33 UTC

Answer 1

Use the following line to re-normalize the quaternion of a transform, usually required after multiplying multiple transforms

my_tf.setRotation(my_tf.getRotation().normalize());

However, a more likely case is that you are trying to work with an uninitialized transform.

Asked by Rufus on 2020-01-09 00:27:50 UTC

TF_DENORMALIZED_QUATERNION

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