AirSim Version/#commit: 6688d27 on Jul 21, 2022
Unity version: 2021.3.31f1
OS Version: Linux Ubuntu 18.04 LTS
I am using a single Multirotor in Unity with Airsim. I am trying to run ROS wrapper for Airsim from airsim_ros_pkgs given the tutorial in AirSim ROS Tutorials.
I am trying the simple example of Single drone with monocular and depth cameras, and lidar; it uses settings.json - front_stereo_and_center_mono.json. When I run the launch files in this example, I get the error
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "front_center_optical" from authority "/airsim_node" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "front_center_optical" from authority "/airsim_node" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "front_center_body" from authority "/airsim_node" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "front_center_optical" from authority "/airsim_node" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
I think this is a bug in the airsim_ros_wrapper.cpp ROS wrapper code. Has anyone also experienced this issue?
What's better than filing an issue? Filing a pull request :).
Bug report
I am using a single Multirotor in Unity with Airsim. I am trying to run ROS wrapper for Airsim from airsim_ros_pkgs given the tutorial in AirSim ROS Tutorials.
I am trying the simple example of Single drone with monocular and depth cameras, and lidar; it uses settings.json - front_stereo_and_center_mono.json. When I run the launch files in this example, I get the error
Settings
How can the issue be reproduced?
source PATH_TO/AirSim/ros/devel/setup.bash
roscd airsim_tutorial_pkgs
4.cp settings/front_stereo_and_center_mono.json ~/Documents/AirSim/settings.json
Start your Unity simulation here
roslaunch airsim_ros_pkgs airsim_node.launch
in a new pane / terminal
source PATH_TO/AirSim/ros/devel/setup.bash
roslaunch airsim_tutorial_pkgs front_stereo_and_center_mono.launch
Include full error message in text form
I think this is a bug in the airsim_ros_wrapper.cpp ROS wrapper code. Has anyone also experienced this issue?
What's better than filing an issue? Filing a pull request :).