播放demo包后报错:Ignoring transform for child_frame_id "aft_pgo" from authority "unknown_publisher" because of a nan value in the transform

yanliang-wang / FAST_LIO_LC

The tight integration of FAST-LIO with Radius-Search-based loop closure module.

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播放demo包后报错:Ignoring transform for child_frame_id "aft_pgo" from authority "unknown_publisher" because of a nan value in the transform #4

Open XiaoJake opened 2 years ago

XiaoJake commented 2 years ago

roslaunch fast_lio mapping_velodyne.launch roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch rosbag play T3F2-2021-08-02-15-00-12.bag -r 2

在执行第3条命令,开始播放bag包后,就遇到如下截图的报错和结果: [ERROR] [1651823400.753885574]: Ignoring transform for child_frame_id "aft_pgo" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)

fast_lio_lc_bug

yanliang-wang commented 2 years ago

我没有遇到类似的情况,我觉得你需要定位哪里出现了nan值, 为什么会有nan值,我按照你发的error log,估计大概的出错位置应该是这里.

srinivasrama commented 2 years ago

rosbag play T3F2-2021-08-02-15-00-12.bag

will give nan value issue but when i changed added the rate flag, its working as normal and no error is thrown.

rosbag play T3F2-2021-08-02-15-00-12.bag -r 2.0

yanliang-wang commented 2 years ago

That's weird. I can run this bag file normally with a 1.0~5.0 rate flag on my computer.