Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from ...

well, new test :
I used default noetic branch, kept all actual code, and spirit robot name.
modified send() and recv() functions, with my send/receive code, under spirit_hardware.h/cpp
send and receive joints lib functions tested and working.
imu working, feeding last_imumsg (imupub.publish(last_imumsg) is tested, working)
just modified <param name="/use_sim_time" value="false" />, <arg name="is_hardware" value="true"/>, and <arg name="mocap" value="false"/>
I launch : roslaunch quad_utils quad_gazebo.launch , then here is the terminal :
ylo2@ylo2-UP-WHL01:~/catkin_ws$ roslaunch quad_utils quad_gazebo.launch
... logging to /home/ylo2/.ros/log/b8efa380-bd0e-11ed-8ea2-dfb78762e5d0/roslaunch-ylo2-UP-WHL01-189189.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ylo2-UP-WHL01:33021/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /global_body_planner/backup_ratio: 0.5
 * /global_body_planner/dt: 0.03
 * /global_body_planner/dz0_max: 2.0
 * /global_body_planner/dz0_min: 1.0
 * /global_body_planner/g: 9.81
 * /global_body_planner/goal_state: [5.0, 0.0]
 * /global_body_planner/max_planning_time: 0.2
 * /global_body_planner/mu: 0.25
 * /global_body_planner/num_calls: 1
 * /global_body_planner/num_leap_samples: 10
 * /global_body_planner/pos_error_threshold: 25
 * /global_body_planner/replanning: True
 * /global_body_planner/startup_delay: 2.0
 * /global_body_planner/t_s_max: 0.25
 * /global_body_planner/t_s_min: 0.12
 * /global_body_planner/trapped_buffer_factor: 7
 * /global_body_planner/traversability_threshold: 0.3
 * /global_body_planner/update_rate: 20
 * /grid_map_filter_node/grid_map_filters: [{'name': 'duplic...
 * /grid_map_filter_node/input_topic: /terrain_map_raw
 * /grid_map_filter_node/output_topic: /terrain_map
 * /grid_map_visualization/grid_map_topic: /terrain_map
 * /grid_map_visualization/grid_map_visualizations: [{'name': 'z_poin...
 * /local_footstep_planner/duty_cycles: [0.5, 0.5, 0.5, 0.5]
 * /local_footstep_planner/foothold_obj_threshold: 0.6
 * /local_footstep_planner/grf_weight: 0.5
 * /local_footstep_planner/ground_clearance: 0.07
 * /local_footstep_planner/obj_fun_layer: traversability
 * /local_footstep_planner/period: 0.36
 * /local_footstep_planner/phase_offsets: [0.0, 0.5, 0.5, 0.0]
 * /local_footstep_planner/standing_error_threshold: 0.03
 * /local_planner/cmd_vel_filter_const: 0.1
 * /local_planner/cmd_vel_scale: 1.0
 * /local_planner/desired_height: 0.27
 * /local_planner/horizon_length: 26
 * /local_planner/last_cmd_vel_msg_time_max: 2.0
 * /local_planner/stand_cmd_vel_threshold: 0.1
 * /local_planner/stand_pos_error_threshold: 0.05
 * /local_planner/stand_vel_threshold: 0.1
 * /local_planner/timestep: 0.03
 * /local_planner/toe_radius: 0.02
 * /local_planner/update_rate: 333
 * /map_frame: map
 * /mesh_to_grid_map_node/frame_id_mesh_loaded: map
 * /mesh_to_grid_map_node/grid_map_resolution: 0.05
 * /mesh_to_grid_map_node/latch_grid_map_pub: True
 * /mesh_to_grid_map_node/layer_name: z
 * /mesh_to_grid_map_node/verbose: True
 * /mesh_to_grid_map_node/world: flat
 * /nmpc_controller/Q_temporal_factor: 100.0
 * /nmpc_controller/R_temporal_factor: 1
 * /nmpc_controller/constraint_panic_weights: 20.0
 * /nmpc_controller/enable_adaptive_complexity: False
 * /nmpc_controller/enable_mixed_complexity: False
 * /nmpc_controller/enable_variable_horizon: False
 * /nmpc_controller/fixed_complex_head: 0
 * /nmpc_controller/fixed_complex_idxs: []
 * /nmpc_controller/fixed_complex_tail: 0
 * /nmpc_controller/friction_coefficient: 0.3
 * /nmpc_controller/min_horizon_length: 10
 * /nmpc_controller/panic_weights: 200.0
 * /remote_heartbeat/robot_latency_threshold_error: 0.1
 * /remote_heartbeat/robot_latency_threshold_warn: 0.02
 * /remote_heartbeat/update_rate: 500
 * /robot_1/contact_state_publisher/update_rate: 500
 * /robot_1/enable_statistics: True
 * /robot_1/global_body_planner/grf_max: 5.0
 * /robot_1/global_body_planner/grf_min: 4.0
 * /robot_1/global_body_planner/h_max: 0.375
 * /robot_1/global_body_planner/h_min: 0.075
 * /robot_1/global_body_planner/h_nom: 0.3
 * /robot_1/global_body_planner/mass: 13.0
 * /robot_1/global_body_planner/robot_h: 0.05
 * /robot_1/global_body_planner/robot_l: 0.3
 * /robot_1/global_body_planner/robot_w: 0.3
 * /robot_1/global_body_planner/v_max: 2.0
 * /robot_1/global_body_planner/v_nom: 0.75
 * /robot_1/ground_truth/robot_state_publisher/tf_prefix: robot_1_ground_truth
 * /robot_1/joint_controller/joints: ['0', '1', '2', '...
 * /robot_1/joint_controller/type: effort_controller...
 * /robot_1/joint_state_controller/publish_rate: 500
 * /robot_1/joint_state_controller/type: joint_state_contr...
 * /robot_1/local_footstep_planner/foothold_search_radius: 0.25
 * /robot_1/local_footstep_planner/hip_clearance: 0.1
 * /robot_1/nmpc_controller/body/g_dim: 28
 * /robot_1/nmpc_controller/body/g_lb: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/body/g_ub: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/body/u_dim: 12
 * /robot_1/nmpc_controller/body/u_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/u_ub: [2e+19, 2e+19, 15...
 * /robot_1/nmpc_controller/body/u_weights: [5e-05, 5e-05, 5e...
 * /robot_1/nmpc_controller/body/x_dim: 12
 * /robot_1/nmpc_controller/body/x_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/x_lb_soft: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/x_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/body/x_ub_soft: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/body/x_weights: [5.0, 5.0, 5.0, 0...
 * /robot_1/nmpc_controller/feet/g_dim: 28
 * /robot_1/nmpc_controller/feet/g_lb: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/feet/g_ub: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/feet/u_dim: 24
 * /robot_1/nmpc_controller/feet/u_lb: [-99.9, -99.9, -9...
 * /robot_1/nmpc_controller/feet/u_ub: [99.9, 99.9, 99.9...
 * /robot_1/nmpc_controller/feet/u_weights: [5e-05, 5e-05, 5e...
 * /robot_1/nmpc_controller/feet/x_dim: 24
 * /robot_1/nmpc_controller/feet/x_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/feet/x_lb_soft: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/feet/x_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/feet/x_ub_soft: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/feet/x_weights: [7.51, 7.51, 7.51...
 * /robot_1/nmpc_controller/joints/g_dim: 52
 * /robot_1/nmpc_controller/joints/g_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/joints/g_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/joints/u_dim: 0
 * /robot_1/nmpc_controller/joints/u_lb: []
 * /robot_1/nmpc_controller/joints/u_ub: []
 * /robot_1/nmpc_controller/joints/u_weights: []
 * /robot_1/nmpc_controller/joints/x_dim: 24
 * /robot_1/nmpc_controller/joints/x_lb: [-0.707, -1.57, 0...
 * /robot_1/nmpc_controller/joints/x_lb_soft: [-0.5, -1.57, 0.2...
 * /robot_1/nmpc_controller/joints/x_ub: [0.707, 3.14, 3.1...
 * /robot_1/nmpc_controller/joints/x_ub_soft: [0.5, 3.14, 2.8, ...
 * /robot_1/nmpc_controller/joints/x_weights: []
 * /robot_1/robot_description: <?xml version="1....
 * /robot_1/robot_description_sdf: <?xml version='1....
 * /robot_1/robot_driver/controller: inverse_dynamics
 * /robot_1/robot_driver/is_hardware: True
 * /robot_1/robot_driver/safety_kd: [2, 2, 2]
 * /robot_1/robot_driver/safety_kp: [0, 0, 0]
 * /robot_1/robot_driver/sit_joint_angles: [0.0, 0.0, 0.0]
 * /robot_1/robot_driver/sit_kd: [1, 1, 1]
 * /robot_1/robot_driver/sit_kp: [10, 10, 10]
 * /robot_1/robot_driver/stance_kd: [1, 1, 1]
 * /robot_1/robot_driver/stance_kp: [10, 10, 10]
 * /robot_1/robot_driver/stand_joint_angles: [0.0, 0.76, 1.52]
 * /robot_1/robot_driver/stand_kd: [1, 1, 1]
 * /robot_1/robot_driver/stand_kp: [35, 35, 35]
 * /robot_1/robot_driver/swing_kd: [1, 1, 1]
 * /robot_1/robot_driver/swing_kd_cart: [0, 0, 0]
 * /robot_1/robot_driver/swing_kp: [10, 10, 10]
 * /robot_1/robot_driver/swing_kp_cart: [0, 0, 0]
 * /robot_1/robot_driver/torque_limit: [21, 21, 32]
 * /robot_1/robot_type: spirit
 * /robot_1/tf_prefix: robot_1
 * /robot_1/topics/body_force/joint_torques: body_force/joint_...
 * /robot_1/topics/body_force/toe_forces: body_force/toe_fo...
 * /robot_1/topics/cmd_vel: cmd_vel
 * /robot_1/topics/control/grfs: control/grfs
 * /robot_1/topics/control/joint_command: control/joint_com...
 * /robot_1/topics/control/leg_override: control/leg_override
 * /robot_1/topics/control/mode: control/mode
 * /robot_1/topics/control/restart_flag: control/restart_flag
 * /robot_1/topics/control/single_joint_command: control/single_jo...
 * /robot_1/topics/control/trajectory: control/trajectory
 * /robot_1/topics/foot_plan_continuous: foot_plan_continuous
 * /robot_1/topics/foot_plan_discrete: foot_plan_discrete
 * /robot_1/topics/gazebo/toe0_contact_state: gazebo/toe0_conta...
 * /robot_1/topics/gazebo/toe1_contact_state: gazebo/toe1_conta...
 * /robot_1/topics/gazebo/toe2_contact_state: gazebo/toe2_conta...
 * /robot_1/topics/gazebo/toe3_contact_state: gazebo/toe3_conta...
 * /robot_1/topics/global_plan: global_plan
 * /robot_1/topics/global_plan_discrete: global_plan_discrete
 * /robot_1/topics/global_plan_tree: global_plan_tree
 * /robot_1/topics/goal_state: goal_state
 * /robot_1/topics/heartbeat/robot: heartbeat/robot
 * /robot_1/topics/local_plan: local_plan
 * /robot_1/topics/mocap: mocap_node/quad/pose
 * /robot_1/topics/start_state: start_state
 * /robot_1/topics/state/estimate: state/estimate
 * /robot_1/topics/state/grfs: state/grfs
 * /robot_1/topics/state/ground_truth: state/ground_truth
 * /robot_1/topics/state/ground_truth_body_frame: state/ground_trut...
 * /robot_1/topics/state/imu: state/imu
 * /robot_1/topics/state/joints: state/joints
 * /robot_1/topics/state/trajectory: state/trajectory
 * /robot_1/topics/trajectory: robot_plan
 * /robot_1/topics/visualization/current_grf: visualization/cur...
 * /robot_1/topics/visualization/foot_0_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_1_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_2_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_3_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_plan_discrete: visualization/foo...
 * /robot_1/topics/visualization/global_plan: visualization/glo...
 * /robot_1/topics/visualization/global_plan_discrete: visualization/glo...
 * /robot_1/topics/visualization/global_plan_grf: visualization/glo...
 * /robot_1/topics/visualization/joint_states/estimate: estimate/visualiz...
 * /robot_1/topics/visualization/joint_states/ground_truth: ground_truth/visu...
 * /robot_1/topics/visualization/joint_states/trajectory: trajectory/visual...
 * /robot_1/topics/visualization/local_plan: visualization/loc...
 * /robot_1/topics/visualization/local_plan_grf: visualization/loc...
 * /robot_1/topics/visualization/local_plan_ori: visualization/loc...
 * /robot_1/topics/visualization/state/estimate_trace: visualization/sta...
 * /robot_1/topics/visualization/state/ground_truth_trace: visualization/sta...
 * /robot_1/topics/visualization/state/trajectory_trace: visualization/sta...
 * /robot_1/trajectory/robot_state_publisher/tf_prefix: robot_1_trajectory
 * /robot_description: <?xml version="1....
 * /robot_description_sdf: <?xml version='1....
 * /robot_driver/filter_time_constant: 0.01
 * /robot_driver/heartbeat_timeout: 0.2
 * /robot_driver/high_pass_a: [1.90134750829405...
 * /robot_driver/high_pass_b: [0.0625, 0]
 * /robot_driver/high_pass_c: [0.03191280510898...
 * /robot_driver/high_pass_d: [0.00099960179748...
 * /robot_driver/input_timeout: 0.2
 * /robot_driver/low_pass_a: [1.86308158952858...
 * /robot_driver/low_pass_b: [2, 0]
 * /robot_driver/low_pass_c: [1.46952695698271...
 * /robot_driver/low_pass_d: [1.616290836790004]
 * /robot_driver/mocap_dropout_threshold: 0.027
 * /robot_driver/mocap_rate: 360.0
 * /robot_driver/publish_rate: 500
 * /robot_driver/state_timeout: 0.1
 * /robot_driver/update_rate: 500
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /rviz_interface/colors/back_left: [0, 45, 114]
 * /rviz_interface/colors/back_right: [242, 169, 0]
 * /rviz_interface/colors/front_left: [166, 25, 46]
 * /rviz_interface/colors/front_right: [0, 132, 61]
 * /rviz_interface/colors/individual_grf: [45, 31, 38]
 * /rviz_interface/colors/net_grf: [55, 51, 58]
 * /rviz_interface/orientation_subsample_num: 3
 * /rviz_interface/update_rate: 100
 * /teleop_twist_keyboard/repeat_rate: 30
 * /terrain_map_publisher/map_data_source: internal
 * /terrain_map_publisher/obstacle_height: 1.0
 * /terrain_map_publisher/obstacle_radius: 1.0
 * /terrain_map_publisher/obstacle_x: 3.0
 * /terrain_map_publisher/obstacle_y: 0.0
 * /terrain_map_publisher/resolution: 0.1
 * /terrain_map_publisher/step1_height: 0.0
 * /terrain_map_publisher/step1_x: 1.0
 * /terrain_map_publisher/step2_height: 0.0
 * /terrain_map_publisher/step2_x: 2.0
 * /terrain_map_publisher/terrain_type: slope
 * /terrain_map_publisher/update_rate: 5
 * /topics/control/joint_command: control/joint_com...
 * /topics/heartbeat/remote: heartbeat/remote
 * /topics/terrain_map: /terrain_map
 * /topics/terrain_map_raw: /terrain_map_raw
 * /trajectory_publisher/playback_speed: 1.0
 * /trajectory_publisher/traj_source: topic
 * /trajectory_publisher/update_rate: 60
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    grid_map_filter_node (grid_map_demos/filters_demo)
    grid_map_visualization (grid_map_visualization/grid_map_visualization)
    mesh_to_grid_map_node (quad_utils/mesh_to_grid_map_node)
    rviz (rviz/rviz)
  /robot_1/
    contact_state_publisher (gazebo_scripts/contact_state_publisher_node)
    controller_spawner (controller_manager/spawner)
    robot_driver (robot_driver/robot_driver_node)
    rviz_interface (quad_utils/rviz_interface_node)
    spawn_sdf_model (gazebo_ros/spawn_model)
  /robot_1/ground_truth/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /robot_1/trajectory/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [189216]
process[mesh_to_grid_map_node-2]: started with pid [189221]
process[grid_map_visualization-3]: started with pid [189222]
process[grid_map_filter_node-4]: started with pid [189223]
process[robot_1/spawn_sdf_model-5]: started with pid [189224]
process[robot_1/robot_driver-6]: started with pid [189225]
process[robot_1/controller_spawner-7]: started with pid [189226]
process[robot_1/contact_state_publisher-8]: started with pid [189227]
process[robot_1/trajectory/robot_state_publisher-9]: started with pid [189228]
process[robot_1/ground_truth/robot_state_publisher-10]: started with pid [189229]
process[robot_1/rviz_interface-11]: started with pid [189243]
[ WARN] [1678222592.470240996]: The root link body has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[rviz-12]: started with pid [189256]
[ INFO] [1678222592.497669846]: Grid map visualization node started.
[ INFO] [1678222592.517836862]: grid_map_visualizations: Configured visualization of type 'point_cloud' with name 'z_points'.
[ INFO] [1678222592.517883195]: grid_map_visualizations: Configured visualization of type 'occupancy_grid' with name 'elevation_grid'.
[ INFO] [1678222592.517907778]: grid_map_visualizations: Configured visualization of type 'vectors' with name 'surface_normals'.
[ WARN] [1678222592.523394574]: The root link body has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1678222592.535273982]: Grid map visualization initialized.
[ WARN] [1678222592.581049286]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
/home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply
[ WARN] [1678222592.586642211]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1678222592.586740635]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
[ WARN] [1678222592.586829890]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1678222592.586908906]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1678222592.586951249]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
[ INFO] [1678222592.601438998]: Number of polygons: 12
[ INFO] [1678222592.603117707]: Created map with size 9.000000 x 4.000000 m (180 x 80 cells).
[ INFO] [1678222592.603393692]: Published a grid map message.
[ INFO] [1678222592.603481722]: Loaded the mesh from file: /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply. Its frame_id is set to 'map'
[ INFO] [1678222592.655017987]: Can't find param robot_driver/estimator on rosparam server, loading default value.
[ INFO] [1678222592.698365942]: Loading hardware robot driver
[INFO] [1678222592.831734, 0.000000]: Waiting for /clock to be available...
[ INFO] [1678222592.907494945]: --MOTEUS INITIALIZATION & RESET-> OK--
[ INFO] [1678222592.909639468]: --MOTEUS MOTORS STOPPED --------> OK--

-------------------------------------------------------------
--  Zeroing joints. angle_joint tolerance is < 15 degrees  --
---------------------------------------------   Waiting :  --

[ INFO] [1678222592.943381893]: --ROBOT CALIBRATION CHECKED ----> OK--

startup_routine Done.
[INFO] [1678222592.984422, 0.000000]: Loading model XML from ros parameter robot_description_sdf
[INFO] [1678222592.992115, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1678222593.136412216]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678222593.138256323]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1678222593.593192002]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1678222593.596961, 0.000000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[INFO] [1678222594.005651, 0.154000]: Spawn status: SpawnModel: Successfully spawned entity
[ WARN] [1678222594.008676790, 0.154000000]: missing <robotNamespace>, set to default: /robot_1/
[ INFO] [1678222594.008975598, 0.154000000]: <topicName> set to: state/imu
[ INFO] [1678222594.009405102, 0.154000000]: <frameName> set to: imu::link
[ INFO] [1678222594.009810882, 0.154000000]: <updateRateHZ> set to: 500
[ INFO] [1678222594.010162467, 0.154000000]: <gaussianNoise> set to: 0
[ INFO] [1678222594.010496059, 0.154000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1678222594.010771010, 0.154000000]: <rpyOffset> set to: 0 -0 0
[ INFO] [1678222594.012308726, 0.154000000]: Physics dynamic reconfigure ready.
[ INFO] [1678222594.160137843, 0.154000000]: Loading gazebo_ros_control plugin
[ WARN] [1678222594.160244349, 0.154000000]: Desired controller update period (0.002000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1678222594.160303497, 0.154000000]: Starting gazebo_ros_control plugin in namespace: /robot_1/
[ INFO] [1678222594.160791710, 0.154000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_1/robot_description] on the ROS param server.
[ INFO] [1678222594.279891170, 0.154000000]: Loaded gazebo_ros_control.
[robot_1/spawn_sdf_model-5] process has finished cleanly
log file: /home/ylo2/.ros/log/b8efa380-bd0e-11ed-8ea2-dfb78762e5d0/robot_1-spawn_sdf_model-5*.log
[ INFO] [1678222594.847492239, 0.154000000]: Ground Truth State Estimator: <updateRateHZ> set to: 500
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.864164225, 0.166000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.874758928, 0.176000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.884441749, 0.186000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.895116230, 0.196000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.904552140, 0.206000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line [ERROR] [1678222594.915160369, 0.217000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[INFO] [1678222594.915190, 0.217000]: /clock is published. Proceeding to load the controller(s).
[INFO] [1678222594.916454, 0.217000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1678222594.919136, 0.220000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1678222594.922230, 0.223000]: Controller Spawner: Waiting for service controller_manager/unload_controller
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.924842204, 0.226000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
[INFO] [1678222594.925349, 0.226000]: Loading controller: joint_controller
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.935414074, 0.236000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
[INFO] [1678222594.940011, 0.241000]: Loading controller: joint_state_controller
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.946105426, 0.246000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
[INFO] [1678222594.951071, 0.251000]: Controller Spawner: Loaded controllers: joint_controller, joint_state_controller
[INFO] [1678222594.955244, 0.255000]: Started controllers: joint_controller, joint_state_controller
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.956699821, 0.256000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222594.998051403, 0.296000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.038390219, 0.336000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.082084477, 0.366000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.096931472, 0.376000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.175549370, 0.436000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.220662245, 0.477000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.315146111, 0.546000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.407479561, 0.616000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.471949838, 0.666000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.498592190, 0.686000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.552809555, 0.726000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ERROR] [1678222595.911557360, 0.986000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
[ERROR] [1678222595.926424766, 0.996000000]: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ WARN] [1678222595.932458456, 1.000000000]: No body pose (mocap) recieved
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
Any help would be very appreciate, friends.
ps : I don't use any network, i only use the robot board (an up xtreme i7), my controllers are mjbot moteus QDD100, and i'm not RT kernel, here.
@jcnorby ?
robomechanics / quad-sdk

Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "robot_1_ground_truth/body" from ... #350
