Hello,

I am very new to ROS and am working on a project using a Hukoyo-04LX laser and a pixhawk for IMU data. I was able to generate a hectorslam map using the laser, but I have had zero success integrating the pixhawk. I am using the hectorimuattitudetotf node with the following line <remap from="/imutopic" to="/mavros/imu/data_raw" />. I seem to be getting the following errors:

in the terminal that i run hectorimuattitudetotf [ WARN] [1457483832.319824642]: MSG to TF: Quaternion Not Properly Normalized

in the terminal that I run hectorslamlaunch at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.12/src/buffercore.cpp [ERROR] [1457483832.320056872]: Ignoring transform for childframeid "baselink" from authority "unknownpublisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan) Error: TFNANINPUT: Ignoring transform for childframeid "baselink" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)

in my tf tree:

map-->odom-->basefootprint map-->odom-->basestabilized-->baselink-->laser map-->scanmatcherframe (sorry I was not able to upload the picture)

Any help would be appreciated. Please let me know if further information is needed.

Thanks!!