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RVIZ shows "Uninitialized quaternion, assuming identity." when displaying Octomap mapping

asked 2021-06-14 05:01:24 -0600

SIU0598 gravatar image

updated 2021-06-23 08:38:31 -0600

Dear community, While visualizing the octomap_mapping in RVIZ, I am getting an error stating "Uninitialized quaternion, assuming identity. [Image attached], due to which my octomap maps the environment BUT very scattered and un-updated. I am getting left/right images along with camera information from CoppeliaSim (previously VREP) and later find pointclouds2 using Stereo_Image_proc ROS package. The pointcloud is then subscribed by the octomap_mapping along with /tf data. The /tf frames while visualizing in rviz seems working perfectly. I do not know what am i doing wrong.

Can someone please help me in identifying the issue? Thank you and regards.image description

EDIT: So I fixed the problem. Actually, my /tf transformation was wrong. We need a transformation from sensor's frame (in my case that is the Stereo_frame) to the fixed frame (which in my case is the world frame) . My /tf tree now looks like /stereo_frame -> base_frame -> world_frame.

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I also exactly got same error. My Octomap is also not updating. Have you got any solution? or is there anyone can help?

arifzaman gravatar image arifzaman  ( 2021-06-15 13:53:20 -0600 )edit

No I am still working on it and I have tried multiple methods and different techniques to solve the issue but haven't got any success yet. Will surely update here if got any fix.

SIU0598 gravatar image SIU0598  ( 2021-06-16 00:41:46 -0600 )edit

2 Answers

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answered 2021-06-23 18:55:56 -0600

404RobotNotFound gravatar image

It is not really an error per-say, it is just a warning. It looks like the markers that are coming from the octomap server have not initialized the quaternions (where each field is probably 0). So instead, rviz is just assuming they have a zero rotation (a quaternion of [0,0,0,1]), which is probably a fair assumption.

Each Marker message used in the MarkerArray that you are subscribing to has a pose associated with it.

Looking at the octomap server code publishing the message, they do not set the pose at all. However, the position is set from setting the point in the message it seems.

Funny enough, a pose does get initialized but is never really used anywhere... I would assume someone forget to set the pose for the visualization messages.

I would assume the "Uninitialized quaternion, assuming identity." warning has nothing to do with your octomap performance issues, which it looks like it was a tf issue based on your edit.

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answered 2023-04-19 02:20:59 -0600

YuHsiangLo gravatar image

You need to initialized quaternion of marker

add four line under marker = Marker()

marker.pose.orientation.x = 0.0
marker.pose.orientation.y = 0.0
marker.pose.orientation.z = 0.0
marker.pose.orientation.w = 1.0


from geometry_msgs.msg import Quaternion

# your code

marker = Marker()
marker.pose.orientation = Quaternion(0.0, 0.0, 0.0, 1.0)
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Asked: 2021-06-14 05:01:24 -0600

Seen: 4,229 times

Last updated: Apr 19 '23