Re: Angular information roll should not be null

Posted by flabrosse on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Angular-information-roll-should-not-be-null-tp8300p8434.html

Hi Mathieu,

Thanks for the answer.  I checked and none of the values in my odom messages are inf (or Inf or any combination).  Here is a typical example while the robot is static and where I get the problem:

header: 
  seq: 37243
  stamp: 
    secs: 1628780962
    nsecs: 695691021
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 37.39194540035548
      y: 29.11935107467684
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.8336782641320923
      w: 0.5522504431086509
  covariance: [0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.08]

Maybe my covariances are not correct?

Fred