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MSG to TF : Quaternion Not Properly Normalized

asked 2021-07-13 01:39:57 -0600

jjb1220 gravatar image

updated 2021-07-13 02:39:32 -0600

gvdhoorn gravatar image

Thank you for clicking, hello, I'm ros begginer. I am currently using IMU for Slam mapping. But I get the ERR MSG(MSG to TF : Quaternion Not Properly Normalized). What should I do??

$ rostopic echo /imu_data
header:
  seq: 122552
  stamp:
  secs: 1626158167
  nsecs: 547560799
  frame_id: "imu_link"
orientation:
  x: 126.18
  y: -40.61
  z: -174.65
  w: -40.63
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
  x: 2.20086018676
  y: 0.0
  z: 0.0
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
  x: 0.0
  y: 0.0
  z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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answered 2021-07-13 02:40:53 -0600

gvdhoorn gravatar image

updated 2021-07-13 02:42:26 -0600

We see this in your rostopic echo output:

orientation:
  x: 126.18
  y: -40.61
  z: -174.65
  w: -40.63

Is this coming from your IMU?

orientation is supposed to be a quaternion.

From the documentation:

Header header
geometry_msgs/Quaternion orientation
...

Values typically lie in [0, 1]. I'm not sure what to make of the values in your orientation field.

Are you setting it to Euler angles perhaps? That won't work.

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oh thank you, The value I have is the orientation value. Can I replace this value with a Quaternion value??

jjb1220 gravatar image jjb1220  ( 2021-07-14 05:16:57 -0600 )edit

If you have a quaternion, you could use it to populate the field.

If you don't have a quaternion, but an Euler triplet, you could convert it to a quaternion using one of the available methods.

gvdhoorn gravatar image gvdhoorn  ( 2021-07-14 06:39:11 -0600 )edit

very Thank, I fixed it!

jjb1220 gravatar image jjb1220  ( 2021-07-15 09:28:01 -0600 )edit

What was your solution?

gvdhoorn gravatar image gvdhoorn  ( 2021-07-15 09:38:45 -0600 )edit

As a result, the above article did not fix it. I just got a hint. lol I republished the values ​​provided by the IMU sensor I use according to the topic msg format.

jjb1220 gravatar image jjb1220  ( 2021-07-15 10:33:15 -0600 )edit

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Asked: 2021-07-13 01:39:57 -0600

Seen: 1,790 times

Last updated: Jul 13 '21