Move Base Lite does not handle null orientations

[StefanFabian]

To be able to differentiate between waypoints with a specific orientation and waypoints that the robot may reach with any orientation, I've used zero quaternions as a orientation is not given representation. Unfortunately, move_base_lite will at first not terminate and after some time start rotating on the goal position. The following log is an excerpt, the start repeated until the NaN message came which is where the robot started to rotate on the sport, then that part repeated until the behavior was canceled.

[ INFO] [1636123412.962682880, 185.054000000]: Moved goal
[ INFO] [1636123412.966470197, 185.058000000]: Pose valid, not modifying
[ INFO] [1636123412.966646838, 185.058000000]: [Pathsmoother3D] REVERSE! start_projection = 0.999554
[ INFO] [1636123412.966722718, 185.058000000]: [vehicle_controller] Received new path to goal point (x = 1.38, y = 8.62)
[ INFO] [1636123413.053258872, 185.145000000]: [vehicle_controller] Current position is within goal tolerance.
[ INFO] [1636123413.956608596, 186.047000000]: Pose already farther than desired distance from next obstacle, not modifying
[ INFO] [1636123413.956634927, 186.047000000]: Moved goal
[ INFO] [1636123413.959317407, 186.050000000]: Pose valid, not modifying
[ INFO] [1636123413.959480538, 186.050000000]: [Pathsmoother3D] REVERSE! start_projection = 0.999133
[ INFO] [1636123413.959520338, 186.050000000]: [vehicle_controller] Received new path to goal point (x = 1.38, y = 8.62)
[ INFO] [1636123414.082783274, 186.173000000]: [vehicle_controller] Current position is within goal tolerance.
[ INFO] [1636123414.957903653, 187.046000000]: Pose already farther than desired distance from next obstacle, not modifying
[ INFO] [1636123414.957935513, 187.046000000]: Moved goal
[ INFO] [1636123414.961372978, 187.050000000]: Pose valid, not modifying
[ERROR] [1636123414.977549214, 187.066000000]: [vehicle_controller] Quaternion contains a NaN

[ INFO] [1636123414.977614284, 187.066000000]: [Pathsmoother3D] REVERSE! start_projection = 0.424020
[ INFO] [1636123414.977661154, 187.066000000]: [vehicle_controller] Received new path to goal point (x = 1.38, y = 8.62)
[WARN] [1636123415.060094, 187.149000]: -9
[ INFO] [1636123415.085376209, 187.173000000]: [vehicle_controller] Current position is within goal tolerance.
[INFO] [1636123415.159792, 187.249000]: Driving to next waypoint
[ INFO] [1636123415.161975009, 187.251000000]: Pose already farther than desired distance from next obstacle, not modifying
[ INFO] [1636123415.162002539, 187.251000000]: Moved goal
[ INFO] [1636123415.164592587, 187.254000000]: Pose valid, not modifying
[ERROR] [1636123415.164769628, 187.254000000]: [vehicle_controller] Quaternion contains a NaN

[ INFO] [1636123415.164822819, 187.254000000]: [Pathsmoother3D] REVERSE! start_projection = 0.344871
[ INFO] [1636123415.164848099, 187.254000000]: [vehicle_controller] Received new path to goal point (x = 1.38, y = 8.62)
[WARN] [1636123415.259497, 187.349000]: -9
[INFO] [1636123415.359747, 187.449000]: Driving to next waypoint
[ INFO] [1636123415.362757660, 187.452000000]: Pose already farther than desired distance from next obstacle, not modifying
[ INFO] [1636123415.362785600, 187.452000000]: Moved goal
[ INFO] [1636123415.366151275, 187.455000000]: Pose valid, not modifying
[ERROR] [1636123415.371885375, 187.461000000]: [vehicle_controller] Quaternion contains a NaN

[ INFO] [1636123415.371937666, 187.461000000]: [Pathsmoother3D] REVERSE! start_projection = 0.148731
[ INFO] [1636123415.371959316, 187.461000000]: [vehicle_controller] Received new path to goal point (x = 1.38, y = 8.62)
[WARN] [1636123415.459574, 187.549000]: -9

[Martin-Oehler]

Fixed

[StefanFabian]

Thank you for resolving this in a quick and timely fashion ;)