Solution to "nan value in transform" error
I am trying to simulate a Baxter bot in Gazebo2- Indigo. I am getting the following error and need help debugging it. Here is the first message that I am getting:
INFO] [WallTime: 1450912978.152709] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Error [Param.cc:181] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]
[ INFO] [1450912979.083195846, 2.069000000]: Block laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1450912979.083362043, 2.069000000]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Then the following two errors are continuously sent to the terminal.
[ERROR] [1450913124.345122432, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_l_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ERROR] [1450913124.345166827, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
This is not enough information. Which URDF? Which launch files? Best provide links to the source code on GitHub (or similar) and update the question with information about what you actually start.
There are several possible ways why this could be an error.
If you are using PID, try to reduce their values (D in particular)