Error: TF NAN_INPUT

[zouyonghao]

I ran loc2d with navigation2 on Ubuntu 20.04 and foxy, in some cases it works.

But in many cases, I got the following errors:

[loc2d_ros-4] Error:   TF NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000685 0.000360 -0.000007 1.000000)
[loc2d_ros-4]          at line 278 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Error:   TF NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000685 0.000360 -0.000007 1.000000)
[rviz2-3]          at line 278 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[recoveries_server-9] Error:   TF NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000685 0.000360 -0.000007 1.000000)
[recoveries_server-9]          at line 278 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[bt_navigator-10] Error:   TF NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000685 0.000360 -0.000007 1.000000)
[bt_navigator-10]          at line 278 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[controller_server-7] Error:   TF NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000685 0.000360 -0.000007 1.000000)
[controller_server-7]          at line 278 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[planner_server-8] Error:   TF NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (0.000685 0.000360 -0.000007 1.000000)
[planner_server-8]          at line 278 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp

I use the same launch tb3_simulation_launch.py in navigation2 except replacing amcl with loc2d.

[eupedrosa]

Hi @zouyonghao.

The ROS2 version of LaMa that you are using is just a proof of concept. We do not support ROS2, at least for now.

The error that you have usually happens in the scan matching optimization. It can happen due to a "bad" scan shape, but usually it happens because the number usable laser beam is low, or even non-existing.

[zouyonghao]

Thanks @eupedrosa
Is there a plan for ROS2 development?

[eupedrosa]

Currently, there is no plan for ROS2 development. But hopefully, before noetic support ends, we will start ROS2 development. I just do not know when.