Large position values for TF

1

Hello there,

I come across some interesting behaviour when running amcl on the Magni:

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1580460145
        nsecs: 985165083
      frame_id: "map"
    child_frame_id: "odom"
    transform: 
      translation: 
        x: -1.45231581031e+184
        y: 1.52068698436e+199
        z: 0.0
      rotation: 
        x: -0.0
        y: -0.0
        z: 1.28566101737e-07
        w: 1.0
---
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1580460146
        nsecs:  28979768
      frame_id: "map"
    child_frame_id: "odom"
    transform: 
      translation: 
        x: -1.45231581031e+184
        y: 1.52068698436e+199
        z: 0.0
      rotation: 
        x: -0.0
        y: -0.0
        z: 1.28566101737e-07
        w: 1.0

where the position values are yuge. I’m not sure how to reproduce this and it is quite rare, but a cold start seems to solve the problem. This causes an error when running rviz:

rviz: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invali
d vector supplied as parameter"' failed.                                                                                                                                        
Aborted (core dumped)

due to the large position values. I am currently using the Pi4 image.

2

Please supply info on the revisions of code in use.

  • The Pi4 is a work in progress and not fully released at this time although this may not be related to use of Pi4 is my thought.

  • Are you using our fiducials repository and if so are you using current code or a git branch.

  • What launch file are you using? Your own or one from our github or image?