Normalize quaternion before storage

PickNikRobotics / rviz_visual_tools

C++ API wrapper for displaying shapes and meshes in Rviz

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Closed hjjayakrishnan closed 7 years ago

hjjayakrishnan commented 7 years ago

Prevents TF_DENORMALIZED_QUATERNION errors in TF2 from happening. Version 0.5.15 release of tf2 checks for quaternion normalization.

davetcoleman commented 7 years ago

Thanks for this improvement!

Do you know why the CI build failed?
Are you sure this needs to be merged into indigo? I'd prefer to make all changes just to kinetic

davetcoleman commented 7 years ago

Is this still needed? I've moved it to kinetic https://github.com/davetcoleman/rviz_visual_tools/pull/64, please review

hjjayakrishnan commented 7 years ago

Hi Dave,

Yes, this patch is still needed and we use this in the lab. I'm guessing the CI build errors occurred since the patch was for ROS indigo.