Localization ROS-从robot_本地化包中通过navsat_transform_节点获取nan值
我需要融合gps、imu和里程计数据,所以我开始测试robot_定位软件包 我为ekf_本地化_节点的输入发布有效的模拟消息sensor_msgs/Imu和nav_msgs/Odometry,然后向navsat_transform_节点的输入提供ekf_本地化_节点输出的里程计消息和模拟sensor_msgs/NavSatFix消息。 当我启动navsat_transform_节点时,我得到以下nan值:Localization ROS-从robot_本地化包中通过navsat_transform_节点获取nan值,localization,transform,nan,ros,Localization,Transform,Nan,Ros,我需要融合gps、imu和里程计数据,所以我开始测试robot_定位软件包 我为ekf_本地化_节点的输入发布有效的模拟消息sensor_msgs/Imu和nav_msgs/Odometry,然后向navsat_transform_节点的输入提供ekf_本地化_节点输出的里程计消息和模拟sensor_msgs/NavSatFix消息。 当我启动navsat_transform_节点时,我得到以下nan值: process[navsat_transform_node-1]: started wit
process[navsat_transform_node-1]: started with pid [29575]
[ WARN] [1431390696.211039510]: MSG to TF: Quaternion Not Properly Normalized
[ INFO] [1431390696.295605608]: Corrected for magnetic declination of 0.183000, user-specified offset of 1.000000, and fixed offset of 1.570796. Transform heading factor is now nan
[ INFO] [1431390696.295816136]: Latest world frame pose is:
Position: (0.000000, 0.000000, 0.000000)
Orientation: (0.000000, -0.000000, 0.000000)
[ INFO] [1431390696.295972831]: World frame->utm transform is
Position: (nan, nan, nan)
Orientation: (nan, -nan, nan)
一些注意事项:
- 在这里,“最新世界帧姿势”的值为:,均为零,但 它们并不总是一样的李>
- 我改变了磁偏角和偏移量的值,但得到了相同的结果李>
- 还更改了imu、里程计和gps信息在发射文件中的坐标帧,但收到了相同的错误李>
pose:
pose:
position:
x: nan
y: nan
z: nan
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan]
任何帮助都将不胜感激 如果任何人有相同的问题,完整的IMU模拟消息如下所示:
#!/usr/bin/env python
import sys
import roslib
import rospy
import math
import numpy as np
from geometry_msgs.msg import Twist, Point
from sensor_msgs.msg import Imu
from std_msgs.msg import Int64
from tf.transformations import quaternion_about_axis
def imu_publisher():
vel_x = 3.0
vel_y = 0.0
vel_theta = 15
imu_pub = rospy.Publisher('/imu_data',Imu)
rospy.init_node("butiaros_imu_publisher",anonymous=True)
rospy.loginfo ("Topic = /imu_data")
x = 0.0
y = 0.0
theta = 0.0
current_time = rospy.get_rostime() #en segundos
last_time = current_time
rate = rospy.Rate(1) #1 hz (1 seg)
i = 0
while not rospy.is_shutdown():
#rospy.loginfo ("Making Odometry message...")
#ROS: Imu
seq = i
imu_msg = Imu()
imu_msg.header.seq = seq
imu_msg.header.stamp = current_time
imu_msg.header.frame_id = "base_link"
# new
imu_msg.orientation.x = 1.0;
imu_msg.orientation.y = 0.0;
imu_msg.orientation.z = 0.0;
imu_msg.orientation.w = 0.0;
# imu_msg.orientation e imu_msg.orientation_covariance
imu_msg.orientation_covariance[0] = -1
# imu_msg.linear_acceleration (m/s2)
imu_msg.linear_acceleration.x = 0.0
imu_msg.linear_acceleration.y = 1.0
imu_msg.linear_acceleration.z = 2.0
p_cov = np.array([0.0]*9).reshape(3,3)
p_cov[0,0] = 0.001
p_cov[1,1] = 0.001
p_cov[2,2] = 0.001
imu_msg.linear_acceleration_covariance = tuple(p_cov.ravel().tolist())
# imu_msg.angular_velocity (rad/sec)
imu_msg.angular_velocity.x = 0.0
imu_msg.angular_velocity.y = 1.0
imu_msg.angular_velocity.z = 2.0
p_cov2 = np.array([0.0]*9).reshape(3,3)
p_cov2[0,0] = 0.001
p_cov2[1,1] = 0.001
p_cov2[2,2] = 0.001
imu_msg.angular_velocity_covariance = tuple(p_cov2.ravel().tolist())
#rospy.loginfo ("Sending Odometry message...")
imu_pub.publish(imu_msg)
i = i + 1
last_time = current_time
current_time = rospy.get_rostime() # in seconds
rate.sleep()
#end_while
#end_def
if __name__ == '__main__':
try:
imu_publisher()
except rospy.ROSInterruptException:
pass
如果你在Linux下使用C++,你可以添加<代码> FEAABABLE(FEYUBALL FEYOFFULL);代码>在代码的开头。这将导致程序在第一个NaN出现的行抛出异常,因此可以使用调试器轻松地跟踪NaN的源(另请参见),谢谢您的回答。我发现了错误!缺少来自IMU的一些模拟值:IMU_msg.orientation.x=1.0;imu_msg.orientation.y=0.0;imu_msg.orientation.z=0.0;imu_msg.orientation.w=0.0;现在一切正常。当做