Error TF NAN NAN NAN when running diffbot.launch.py and rqt_tf_tree

[duygiang1162]

Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "wheel_left" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
         at line 256 in ./src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "wheel_right" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
         at line 237 in ./src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "wheel_right" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
         at line 256 in ./src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "wheel_left" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)

I got this error when view rqt_tree. Fortunately, it not impact to real robot. So can someone help me fix that, tks for reading

[AnOrdinaryUsser]

Hello,

I am making a robot from scratch, and we are using both the firmware provided by hoverboard-robotics and hoverboard-driver, the problem is that we want to make a map in ROS2 with SLAM toolbox and we get the following error:

[async_slam_toolbox_node-1] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id “right_wheel” from authority “Authority undetectable” because of a nan value in the transform (nan nan nan nan) (nan nan nan nan nan nan).

Did you manage to fix it somehow?

[duygiang1162]

Hello,

I am making a robot from scratch, and we are using both the firmware provided by hoverboard-robotics and hoverboard-driver, the problem is that we want to make a map in ROS2 with SLAM toolbox and we get the following error:

[async_slam_toolbox_node-1] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id “right_wheel” from authority “Authority undetectable” because of a nan value in the transform (nan nan nan nan) (nan nan nan nan nan nan).

Did you manage to fix it somehow?

i think this problem relevant to pub joint state of wheel, so i just comment line code in file param hoverboard_control.yaml:
controller_manager:
ros__parameters:
update_rate: 50 # Hz

# joint_state_broadcaster:
#   type: joint_state_broadcaster/JointStateBroadcaster

hoverboard_base_controller:
  type: diff_drive_controller/DiffDriveController

You can try this way to fix this problem. I hope it useful