Interactive marker 'EE:goal_tool0' contains unnormalized quaternions?
I'm using ROS Kinetic with ros-industrial/fanuc 0.4.4 on ubuntu 16.04.4 whose kernel is 4.14.0.
when I run :
roslaunch fanuc_m10ia_moveit_config moveit_planning_execution.launch
start nodes:
- industrialrobotsimulator
- jointtrajectoryaction
- move_group
- robotstatepublisher
- rvizHP5225_3427574651795094467
and appear a warning:
[ WARN] [1525915882.774024474]: Interactive marker 'EE:goal_tool0' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
I try to debug rviz by seting 'arg name="debug" default="true" ' in the moveit_rviz.launch ,but I get very little messages,so I hope that everyone can help me to solve it.
Asked by rcj on 2018-05-09 22:58:22 UTC
Answers
This is "by design" at the moment: there are apparently (quite) some nodes publishing unnormalised quaternions and RViz prints this warning whenever it receives one. This is a 'grace' or 'transition period', as now msgs with such quaternions will still be accepted and visualised by RViz, but in a future release they will be dropped.
See Fix released: rviz 1.12.14 not displaying markers etc with invalid quaternions on ROS Discourse for more information.
Seeing the name of the interactive marker, I believe this is one created by the MoveIt RViz plugin. See ros-planning/moveit#732 for a related MoveIt issue.
In short: this is not a problem you caused, and unless you fix the issue in MoveIt not something you can change.
Asked by gvdhoorn on 2018-05-10 02:31:40 UTC
Comments
Thanks! I get it!
Asked by rcj on 2018-05-10 07:27:42 UTC
Comments
Related / duplicate question: #q287815.
Asked by gvdhoorn on 2018-05-10 02:32:30 UTC