无里程计输出，匹配的位移输出值都为0

[zgrobot]

W0803 16:03:23.908434 17876 residual_block.cc:131]

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all
residual and jacobians that were requested or there was a non-finite value (nan/infinite) generated during the or jacobian computation.

Residual Block size: 2 parameter blocks x 3 residuals

For each parameter block, the value of the parameters are printed in the first column
and the value of the jacobian under the corresponding residual. If a ParameterBlock was held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry of the Jacobian/residual array was requested but was not written to by user code, it is indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating to Inf or NaN is also an error.

Residuals: -nan -nan -nan

Parameter Block 0, size: 4

       0 |         -nan         -nan         -nan 
       0 |         -nan         -nan         -nan 
       0 |         -nan         -nan         -nan 
       1 |         -nan         -nan         -nan 

Parameter Block 1, size: 3

       0 |         -nan         -nan         -nan 
       0 |         -nan         -nan         -nan 
       0 |         -nan         -nan         -nan 

E0803 16:03:23.908457 17876 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed. E0803 16:03:23.908468 17875 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.

[bage131]

Hello.Have you solved this problem?I have the same error when I run the loop_hku_main.bag.