# Revision history [back]

### ray casting in humanoid_localization

I have the humanoid_localization node running with an octomap, a Hokuyo and a Kinect. I am able to see PoseArrays, the Pose, my tf transforms etc. When I move the Kinect, I see that the Pose vector changes accordingly. The orientation isn't right (issue 1) but I keep on getting the error:

ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!


As per this post answers.ros.org/question/131236/ that it is coming from castRay. This is not part of the humanoid_localization source. The suggested fix of base_link does not affect the issue.

My knowledge wrt ray casting is also shallow, and I cannot understand in response to which sensor this is to, and/or if it is a code issue.

### ray casting in humanoid_localization

I have the humanoid_localization node running with an octomap, a Hokuyo and a Kinect. I am able to see PoseArrays, the Pose, my tf transforms etc. When I move the Kinect, I see that the Pose vector changes accordingly. The orientation isn't right (issue 1) but I keep on getting the error:

ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!


As per this post answers.ros.org/question/131236/ that it is coming from castRay. This is not part of the humanoid_localization source. The suggested fix of base_link does not affect the issue.change the situation.

My knowledge wrt ray casting is also shallow, and I cannot understand in response to which sensor this is to, and/or if it is a code issue.