Re: Visual Odometry error in rotation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-Odometry-error-in-rotation-tp2975p3090.html

Hi,

[ WARN] [1493620713.420176292]: MSG to TF: Quaternion Not Properly Normalized
0	0	-nan

Do you convert odometry message to TF? If so, it seems that odometry sent null transform because it is lost. You can show odometry message on terminal at the same time to see if it is actually the case:

$ rostopic echo /rtabmap/odom

Your node subscribing to odometry should handle this situation. rgbd_odometry sends null transforms to notify it is lost. You could also set "publish_null_when_lost" (for rgbd_odometry node) to false so that rgbd_odometry doesn't send these messages, however you won't know that visual odometry cannot be computed.

cheers,
Mathieu