Rviz crashes when visualizing robot model & transform [closed]

edit

Hi,

I want to visualize the pose of my imu with a robot model. It all works fine for a couple of hundred transforms and then crashes with the message:

Assertion failed: (!pos.isNaN() && "Invalid vector supplied as parameter"), function setPosition, file /tmp/ogre-dmWe/ogre_src_v1-7-4/OgreMain/src/OgreNode.cpp, line 413.

I tried to catch the NaN before it is visualized but its not directly in my code. I really don't get where the NaN could still come from in here:

geometry_msgs::Transform transform;

if (!(x != x || y != y || z != z)) {
    transform.translation.x=x;
    transform.translation.y=y;
    transform.translation.z=z;
} else {
    ROS_WARN("Translation NaN");
    ROS_WARN("%f, %f, %f", x, y, z);
}

if (!(isnan(imu_msg->orientation.x) || isnan(imu_msg->orientation.y) || isnan(imu_msg->orientation.x)|| isnan(imu_msg->orientation.w))){
    transform.rotation.x=imu_msg->orientation.x;
    transform.rotation.y=imu_msg->orientation.y;
    transform.rotation.z=imu_msg->orientation.z;
    transform.rotation.w=imu_msg->orientation.w;
} else {
    ROS_WARN("Orientation NaN");
    ROS_WARN("%f, %f, %f, %f", imu_msg->orientation.x, imu_msg->orientation.y, imu_msg->orientation.z, imu_msg->orientation.w);

}

transformStamped.header.stamp=current_time;
transformStamped.header.frame_id="world";
transformStamped.child_frame_id="drone";
transformStamped.transform=transform;
transformBroadcaster->sendTransform(transformStamped);

=====

Also the last transforms before the crash look ok:

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1402081686
        nsecs: 585921000
      frame_id: world
    child_frame_id: drone
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.2
      rotation: 
        x: -0.0690463855863
        y: 0.000421883538365
        z: 0.451825141907
        w: 0.889430403709
---
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1402081686
        nsecs: 598353000
      frame_id: world
    child_frame_id: drone
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.2
      rotation: 
        x: -0.0704767182469
        y: 0.000757452158723
        z: 0.446980148554
        w: 0.891762971878
---
transforms: []
---
transforms: []
---
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1402081686
        nsecs: 619488000
      frame_id: world
    child_frame_id: drone
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.2
      rotation: 
        x: -0.0718987062573
        y: 0.000403782352805
        z: 0.450937718153
        w: 0.889654755592
---

Any suggestions what i could do?