Gmapping Error: TF_DENORMALIZED_QUATERNION Ignoring transform for child_frame_id...

asked 2017-11-06 02:28:17 -0600

أسامة الادريسي gravatar image

updated 2017-11-14 03:39:57 -0600

jayess gravatar image

Hi,

When I run the following command $ rosrun gmapping slam_gmapping scan:=scan I receive this error:

Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-0.911865 0.055664 0.053467 0.403137)
         at line 253 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "imu_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (-0.911865 0.056091 0.053467 0.403076)
         at line 253 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "imu_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (-0.911865 0.056030 0.053406 0.403076)
         at line 253 in /tmp/binarydeb/ros-kinetic-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 (-0.911865 0.056030 0.053589 0.403137)
         at line 253 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "imu_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (-0.911865 0.056030 0.053406 0.403076)
         at line 253 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp

Here are the topics available:

~$ rostopic list 
/diagnostics
/imu
/imu_accl
/imu_gyro
/imu_orientation
/odom
/rosout
/rosout_agg
/scan
/tf
/ultrasound1
/ultrasound2
/ultrasound3
/wheel_velocity

This is all the codes using:

arduino

range_to_laserscan.cpp

imu.cpp

publish_odometry.cpp

Thanks in advance


Update:

When I shut down the node plush_odometry, I receive this warning instead of the warning described above:

~$ rosrun gmapping slam_gmapping scan:=scan
[ WARN] [1509964418.359081950]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.
edit retag flag offensive close merge delete