ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
The orientation that your node is publishing isn't a valid quaternion.
The details of quaternions are too complex to explain here, but there's a nice tutorial on them: http://wiki.ros.org/Tutorials/Quaternions
The short version is that you should initialize the w
part of your quaternion to 1.0 or use a function to create your quaterninon instead of just setting the z value:
initPose_.pose.pose.orientation.w = 1.0;
or
initPose_.pose.pose.orientation = tf::createQuaternionFromRPY(0.0, 0.0, 0.0);
or
initPose_.pose.pose.orientation = tf::createQuaternionFromYaw(0.0);
Note that if you want to use the tf convenience functions for creating quaternions, you'll want to include the appropriate tf header and add a dependency on tf to your CMakeLists.txt