在调试过程中发现以下奇怪的错误,在ROS社区里也没有找到行之有效的解决方法:
- MSG to TF: Quaternion Not Properly Normalized
- Could not get robot pose, cancelling pose reconfiguration
- Gazebo ROS Kobuki plugin: NaN in d1. Step time: 0.001, WD: 0.07, velocity: nan
- Gazebo ROS Kobuki plugin: NaN in d2. Step time: 0.001, WD: 0.07, velocity: nan
- TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of an invalid quaternion in the transform (nan nan nan nan)
- Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of an invalid quaternion in the transform (nan nan nan nan)
at line 257 in /tmp/binarydeb/ros-indigo-tf2-0.5.20/src/buffer_core.cpp - Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "base_footprint" from authority "unknown_publisher" because of a nan value in the transform (nan nan 0.000000) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-indigo-tf2-0.5.20/src/buffer_core.cpp
这里只提供一种解决问题的思路:
第一步:检查相关package是否启动,如velocity_mux、safety_controller、velocity_smoother等等;
第二步:检查话题名称是否配置准确,如odom_topic、odom_frame、cmd_vel_topic等等。
- 20190523更新
在利用Gazebo和RViz仿真时,会出现下面这种现象:turtlebot2撞到“墙”继续顶着“墙”前进,Gazebo上显示turtlebot2位置未变化,而RViz上显示turtlebot2位置发生了变化,似乎无解。
https://answers.ros.org/question/293480/turtlebot-odom-and-a-wall/
- [Err] [REST.cc:205] Error in REST request
sudo gedit ~/.ignition/fuel/config.yaml
将url : https://api.ignitionfuel.org 用 # 注释掉
添加 url: https://api.ignitionrobotics.org