robot_localization loading two odom data in the meantime [closed]

edit

Hi Tom/all: I add another odom data in the ekf_template.yaml, it goes as follows:

 odom0: Odom_1
 odom0_config: [true, true, false,
           false, false, false,
           false, false, false,
           false, false, true,
           false, false, false]
 odom0_queue_size: 2
 odom0_nodelay: false
 odom0_differential: false
 odom0_relative: false
 odom0_pose_rejection_threshold: 5
 odom0_twist_rejection_threshold: 1

 odom1: Odom_2
 odom1_config:  [true, true, false,
             false, false, false,
             true,  true,  true,
             false, false, true,
             false, false, false]
  odom1_queue_size: 10
  odom1_differential: true
  odom1_relative: false
  odom1_pose_rejection_threshold: 2
  odom1_twist_rejection_threshold: 0.2
  odom1_nodelay: false

  imu0: imu_rt
  imu0_config: [false, false, false,
          false, false, false,
          false, false, false,
          true,  true, true,
          true,  true, false] 
  imu0_nodelay: false
  imu0_differential: false
  imu0_relative: true
  imu0_queue_size: 5
  imu0_pose_rejection_threshold: 0.8               
  imu0_twist_rejection_threshold: 0.8                
  imu0_linear_acceleration_rejection_threshold: 0.8

I roslaunch ekf_template.launch in a terminal, and I got information like this , why would it happen? I do appreciate it if someone can give me some clues.

     Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)delta d = -nan

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