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Help migrating from robot_pose_ekf to robot_localization [closed]

asked 2017-04-29 09:37:10 -0500

blasalat gravatar image

Hi, I am currently trying to migrate to robot_localization. I am using IMU and odometry data for the ekf_localization_node. When running ekf_localization_node I get a tf error:

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 253 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp

Here is a Bagfile I made containing IMU and Odometry data. My cofing:

frequency: 30
sensor_timeout: 0.1
two_d_mode: false
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
publish_tf: true
publish_acceleration: false
odom_frame: odom_combined            # Defaults to "odom" if unspecified
base_link_frame: base_footprint  # Defaults to "base_link" if unspecified
world_frame: odom_combined           # Defaults to the value of odom_frame if unspecified

odom0: odom
odom0_config: [true,  true,  false,
               false, false, true,
               true,  false, false,
               false, false, true,
               false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: true
odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1

imu0: imu/data
imu0_config: [false, false, false,
              true,  true,  true,
              false, false, false,
              true,  true,  true,
              true,  true,  true]
imu0_nodelay: false
imu0_differential: true
imu0_relative: true
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8                #
imu0_linear_acceleration_rejection_threshold: 0.8  #
imu0_remove_gravitational_acceleration: true

Any chance someone can help me figure this out.

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Closed for the following reason question is not relevant or outdated by blasalat
close date 2017-08-23 09:29:09.049875


Please post sample messages for each EKF input. Also, post any static transforms you are publishing.

Tom Moore gravatar image Tom Moore  ( 2017-05-04 04:30:13 -0500 )edit

It seems like you haven't specified a map_frame parameter.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-05-15 01:56:36 -0500 )edit

It defaults to map. Did you ever solve this? If so, can we close the question?

Tom Moore gravatar image Tom Moore  ( 2017-07-25 09:29:44 -0500 )edit

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answered 2017-08-23 09:28:18 -0500

blasalat gravatar image

Hi, sorry for responding so late. The error occurred due to nan values in my odom messages.

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the same problem for me

please help me

thank you in advance

Redhwan gravatar image Redhwan  ( 2019-05-15 23:36:31 -0500 )edit

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Asked: 2017-04-29 09:37:10 -0500

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Last updated: Apr 29 '17