robot_localization Ouputs NaNs when IMU/Odom messages not NaNing, works in RobotPoseEKF

edit

Hi,

I have a standard configuration for robot_localization to give me a odom->base_footprint transform. We have been using this sensor data and transformations with robot_pose_ekf for over a year now with no issues. When migrating to robot_localization, randomly, after some inconsistent period of time, the entire /odometry/filtered message becomes filled with nans. This happens with no changes in the odom or imu messages (not giving out nans, nothing out of the ordinary here). It has occurred before adding lidar_odometry (odom0).

We get errors about TF_NAN_INPUT and TF_DENORMALIZED_QUATERNION from using the output /odometry/filtered (because their filled with nans when we populate the TF messages) to update TF outside of robot_localization.

I have included example imu and odom messages, all fields of them are being actively published without any NaNs. I also added the normal robot_localization output and what our nan message looks like, with the robot_localization_config.yaml file.

Any thoughts?

odom (odom1) message from wheel encoders

       header: 
      seq: 176323
      stamp: 
        secs: 1507078251
        nsecs: 535428047
      frame_id: odom
    child_frame_id: base_footprint
    pose: 
      pose: 
        position: 
          x: 0.0
          y: 0.0
          z: 0.0
        orientation: 
          x: 0.0
          y: 0.0
          z: 0.0
          w: 1.0
      covariance: [1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
    twist: 
      twist: 
        linear: 
          x: 0.0
          y: 0.0
          z: 0.0
        angular: 
          x: 0.0
          y: 0.0
          z: 0.0
      covariance: [1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001]

imu message from imu

    header: 
      seq: 157520
      stamp: 
        secs: 1507078338
        nsecs: 195523977
      frame_id: imu_link
    orientation: 
      x: 0.0101925589928
      y: -0.00273427809162
      z: -0.501709473646
      w: 0.864971814291
    orientation_covariance: [1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06]
    angular_velocity: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular_velocity_covariance: [1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06]
    linear_acceleration: 
      x: -0.0453446374339
      y: 0.177417214661
      z: 9.64665574154
    linear_acceleration_covariance: [1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06, 1e-06]

normal robot_localization output

header: 
  seq: 78377
  stamp: 
    secs: 1507078377
    nsecs: 253389359
  frame_id: odom
child_frame_id: base_footprint
pose: 
  pose: 
    position: 
      x: -0.000973945901217
      y: 0.126273200099
      z: -1.61762382101e-17
    orientation: 
      x: -0.000105876156922
      y: -0.000161010011301
      z: 3.51162535183e-06
      w: 0.999999981427
  covariance: [9.997287159166042e-07, 5.664801003518761e-29, -2.1928212327851335e-23, 1.995211302619292e-21, 1.9952112977467756e-21, 1.9952112987625185e-21, 5.66480204376903e-29, 9.997287159166042e-07, -1.0024367487167898e-23, 4.133819569988897e-21, 4.133819559834025e-21, 4.133819561950336e-21, -2.192821232213108e-23, -1 ...