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ethzasl_sensor_fusion only works first time

asked 2015-09-12 01:49:09 -0500

K7 gravatar image

updated 2015-09-12 01:53:36 -0500

Strangest thing happened at the end of completing the ethzasl_sensor_fusion getting started tutorial:

I followed the instructions and then ran the launch file. I see the graph working as expected (updated to rqt_plot). I then let the bag file run until it gets to the end. I'm thinking so far so good but then I try to run it again, now it won't work for me.

I have tried reinitialization everything again. I try over and over. The graph is now flat lining. I can't understand why it would only work once when nothing has changed.

The only thing that I can think of that may be different each time, is the time that I initialize the filter. This is always different as I stop the bag file after running it for approximately 1 second and then initialize as per instructions.

I either get an error warning:

=== ERROR === update: NAN at index 0

=== ERROR === prediction p: NAN at index 0

Or I get this message:

[ WARN] [1441884003.214357239]: large time-gap re-initializing to last state

And sometimes this:

[ WARN] [1441884003.679369485]: Negative scale detected: -0.39217. Correcting to 0.1

It is different depending on where the 'play head' is when I initialize.

I am running Indigo on Ubuntu 14.04.

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answered 2016-02-17 21:59:03 -0500

ssw1 gravatar image

In my case, you have to declare the variable q_wv in template_measurement.h. This should prevent you from getting nan.

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Asked: 2015-09-12 01:49:09 -0500

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Last updated: Sep 12 '15