publish tf for odom and map seems to be bugged with nan transform

[khuechuong]

Preliminary Checks

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• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I ran zed wrapper for zedm and I get this error:

at line 240 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)

I ran rostopic echo tf and I see this:

transforms:

• header: seq: 0 stamp: secs: 1694649918 nsecs: 713624714 frame_id: "odom" child_frame_id: "base_link" transform: translation: x: nan y: nan z: nan rotation: x: nan y: nan z: nan w: nan

Steps to Reproduce

1.roslaunch zed_wrapper zedm.launch 2.rostopic echo tf 3. ...

Expected Result

normal run

Actual Result

nan transform error non stop

ZED Camera model

ZED Mini

Environment

ROS Noetic
Ubuntu 20.04

Anything else?

No response

[Myzhar]

Hi @khuechuong is your camera working correctly? Can you open it with ZED Sensor Viewer and let me know if you can currently acquire inertial data?

[khuechuong]

After a while, I just decided to uninstall and reinstall plus reboot and that solved it.