| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
When I run viso2 mono_odometer I get warnings like
TF to MSG: Quaternion Not Properly Normalized.
I find no translation happens when I move the camera tf are all zeros. Is that because of this warning, which prevent the node to publish tf to odom itself?
With a deep investigation into the source code of viso2, my colleague and I finally solved this issue by calling a service called resetPose. So basically, as soon as the node mono_odometer has been brought up, open a new terminal and type "rosservice call /mono_odometer/reset_pose". For more information, please refer to the reset_pose service callback function which is in odometer_pose.h file. Hope this answer will help those who have the same issue as stated above.
A quaternion must have the sum of the squares of all 4 values add up to 1. Make sure you are setting a valid quaternion.
Hi, I am having the same issue. I found that libviso2 is giving the apparently correct delta_transform (in odometer_base.h). However, the output of
tf::Transform delta_base_transform = current_base_to_sensor_ * delta_transform * current_base_to_sensor_.inverse();
is zero, even though the right side of the equation seems valid. Am I not initializing something properly?
Thanks!
Asked: 2013-06-17 10:03:11 -0600
Seen: 9,546 times
Last updated: Sep 24 '13
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Please at least copy and paste the warnings so we can help you. www.ros.org/wiki/Support Also specific instructions about how to reproduce your problem would be helpful.
sry, I did paste the warning but it didn't show. Now it should be fine.
Hi Jia! Can you show the last pose messages before that warning?
Hi Jia, did you find an answer for this issue? I am having the same problem, even though my system does not present any of the direct limitations of viso2_ros (ie, it is moving forward, contains a ground plane, etc). Thanks for any hints!