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Interactive marker 'EE:goal_tool0' contains unnormalized quaternions?

asked 2018-05-09 22:58:22 -0500

rcj gravatar image

updated 2018-05-10 02:27:06 -0500

gvdhoorn gravatar image

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:

  1. industrial_robot_simulator
  2. joint_trajectory_action
  3. move_group
  4. robot_state_publisher
  5. rviz_HP_5225_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.

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Related / duplicate question: #q287815.

gvdhoorn gravatar imagegvdhoorn ( 2018-05-10 02:32:30 -0500 )edit

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answered 2018-05-10 02:31:40 -0500

gvdhoorn gravatar image

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.

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Thanks! I get it!

rcj gravatar imagercj ( 2018-05-10 07:27:42 -0500 )edit

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Asked: 2018-05-09 22:58:22 -0500

Seen: 1,428 times

Last updated: May 10 '18