Ask Your Question
0

Getting errors from robot_state_publisher [closed]

asked 2013-08-20 04:44:57 -0600

rnunziata gravatar image

updated 2013-08-22 12:34:17 -0600

Update: I've include my urdf file. What would cause the joint states to come up emtpy?

Update: Where are these transforms coming from? I've had not seen link transforms before when I was using a single urdf file for both gazebo and rviz. Now that I split them I am getting these odd transforms with NaN data.

Original: I get the following errors from the robot state publisher...where can I locate the source of this error in the file description and what am I looking for.

Getting the following errors. I have no user nodes running. I am running the joint_state_publisher and the robot_state_publisher

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "left_wheel" from authority "/robot_state_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 239 in /tmp/buildd/ros-hydro-tf2-0.4.5-0precise-20130721-0200/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "right_wheel" from authority "/robot_state_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 239 in /tmp/buildd/ros-hydro-tf2-0.4.5-0precise-20130721-0200/src/buffer_core.cpp
**strong text**

From: rostopic echo tf

header: 
  seq: 0
  stamp: 
    secs: 400
    nsecs: 318000000
  frame_id: base_link
child_frame_id: left_wheel
transform: 
  translation: 
    x: nan
    y: nan
    z: nan
  rotation: 
    x: nan
    y: nan
    z: nan
    w: nan

rostopic echo /joint_states

header: 
  seq: 250
  stamp: 
    secs: 618
    nsecs: 99000000
  frame_id: ''
name: ['joint1', 'joint2', 'camera_joint']
position: [0.0, 0.0, 0.0]
velocity: []


rostopic echo /rrbot/joint1_position_controller/state



header: 
  seq: 65065
  stamp: 
    secs: 664
    nsecs: 619000000
  frame_id: ''
set_point: -0.928255624474
process_value: -0.963152050837
process_value_dot: 0.0224822071073
error: 0.0348964263635
time_step: 0.001
command: 1.24142192562e-06
p: 0.0001
i: 0.0001
d: 0.0001
i_clamp: 0.0



===========URDF file =============

<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/rrbot.gazebo" />
  <!-- Import Rviz colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/materials.xacro" />

  <xacro:property name="PI" value="3.1415926535897931"/>  <!-- ${PI} -->


   <link name='base_link'>
      <collision name='collision'>
        <origin xyz="0 0 .1" rpy="0 0 0"/>
        <geometry>
          <box  size=".4 .2 .1"/>
        </geometry>
      </collision>

      <visual name='visual'>
        <origin xyz="0 0 .1 " rpy="0 0 0"/>
        <geometry>
          <box  size=".4 .2 .1"/>
        </geometry>
      </visual>

      <collision name='caster_collision'>
        <origin xyz="-0.15 0 0.05" rpy="0 0 0"/>
        <geometry>
          <sphere radius=".05"/>
        </geometry>

        <surface>
         <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
         </friction>
        </surface>

      </collision>

      <visual name='caster_visual'>
        <origin xyz="-0.15 0 0.05" rpy="0 0 0"/>
        <geometry>
          <sphere radius=".05"/>
        </geometry>
      </visual>

     <inertial>
        <mass value="10" />
        <origin xyz="0 0 .1 " rpy="0 0 0"/>
        <inertia ixx="1" ixy="0" ixz="0" 
                 iyy="1" iyz="0" 
                 izz="1" />
     </inertial>
  </link> 



  <link name="left_wheel">
    <collision name="collision">
      <origin xyz="0.05 0.08 0.05" rpy="0 1.5707 1.5707"/>
      <geometry>
         <cylinder  length="0.05" radius="0.1"/>
      </geometry>
    </collision>
    <visual name ...
(more)
edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by rnunziata
close date 2013-08-22 13:59:29

1 Answer

Sort by ยป oldest newest most voted
1

answered 2013-08-22 13:57:48 -0600

rnunziata gravatar image

updated 2013-08-22 13:58:47 -0600

Sorry...I was under the impression that this the joint state publisher took joint states from gazebo and published them to ros. It does not.

edit flag offensive delete link more

Question Tools

2 followers

Stats

Asked: 2013-08-20 04:44:57 -0600

Seen: 642 times

Last updated: Aug 22 '13