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TF_DENORMALIZED_QUATERNION

asked 2019-07-26 10:53:33 -0500

nana
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I am using package of aruco from this link aruco ros when I change the matrix "rotate_to_ros" in "aruco_ros_utils.cpp" to be [1 0 0;0 0 1;0 1 0] I have the following error:

Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "marker_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (-0.029012 -0.264665 -0.742686 0.526990)
     at line 257 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

could any one help, please?

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answered 2020-01-08 23:27:50 -0500

Rufus
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updated 2020-01-08 23:48:40 -0500

Use the following line to re-normalize the quaternion of a transform, usually required after multiplying multiple transforms

my_tf.setRotation(my_tf.getRotation().normalize());

However, a more likely case is that you are trying to work with an uninitialized transform.

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Asked: 2019-07-26 10:53:33 -0500

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Last updated: Jan 08 '20

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