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I managed to get rid of the issue.
I was using the following parameter setting:
<param name="base_frame_id" value="/base_link" />
By setting the base_frame_id
to any other frame not coinciding with /base_link
, the issue could be fixed.
For my system, the /base_link
lies on the map ground level. However, the ground level does not seem to be the issue. I initialized the system with /base_link
lying above and below ground level and I was still getting the error
ERROR: Raycasting in direction (0,0,0) is not possible!
It seems like another property of /base_link
was causing the issue.