The robot’s position cannot be estimated.

[wangjinhoon]

Thank you for contributing such a great piece of code.

I ran the SLAM code provided by Unitree, which is based on the LIO-SAM code, but encountered the issue shown in the video below. Does anyone know the reason for this?

this is my problem:
https://youtu.be/6j0tQRC7Sf0

here is my screen and tf_tree

Here is a part of the error.
Do you have any idea what might be causing this issue?

Thank you.

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-96.496956 -219.946716 5.844588) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-96.496956 -219.946716 5.844588) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-96.496956 -219.946716 5.844588) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-96.496956 -219.946716 5.844588) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_link" from autho^C
[ERROR] [1736764069.492302747]: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (nan nan nan nan)
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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-22.139194 -36.208660 1.028274) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-22.139194 -36.208660 1.028274) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cppError:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-22.139194 -36.208660 1.028274) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   Average Scan Matching Score=240.906
neff= 1.04917
***RESAMPLE*****
[ WARN] [1736763825.950102078]: Packet containing angle overflow, first angle: 35998 second angle: 38
TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-96.496956 -219.946716 5.844588) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1736763786.643825024]: Costmap2DROS transform timeout. Current time: 1736763786.6437, global_pose stamp: 1736763785.2677, tolerance: 0.3000

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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1736764069.521456670]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1736764069.522933826]: Costmap2DROS transform timeout. Current time: 1736763788.7906, global_pose stamp: 1736763785.2677, tolerance: 0.3000
[ WARN] [1736764069.523055522]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 280.7325 seconds
[ WARN] [1736764069.523269282]: Costmap2DROS transform timeout. Current time: 1736763787.7079, global_pose stamp: 1736763785.2677, tolerance: 0.3000
TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-22.139194 -36.208660 1.028274) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/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)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1736764069.523570787]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 281.8155 seconds
[ WARN] [1736764069.527772109]: The origin for the sensor at (3.95, -8.92) is out of map bounds. So, the costmap cannot raytrace for it.
[dog_control_node-17] killing on exit
[ INFO] [1736764069.556739727]: shutting down!
[ WARN] [1736764069.557475665]: Packet containing angle overflow, first angle: 35998 second angle: 38
[move_base-16] killing on exit
[slam_gmapping_node-15] killing on exit
[lio_sam_rviz-14] killing on exit
[navsat-13] killing on exit
[ekf_gps-12] killing on exit
[robot_state_publisher-11] killing on exit
[lio_sam_mapOptmization-10] killing on exit
[lio_sam_featureExtraction-9] killing on exit
[lio_sam_imageProjection-8] killing on exit
Deleting Nodes: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 19 20 21 22 23 24 25 26 27 28 29 Done
Deleting old particles...
Done
Copying Particles and  Registering  scans... Done
[lio_sam_imuPreintegration-7] killing on exit
[local_map_tf_publisher-6] killing on exit
[velodyne_nodelet_manager_laserscan-5] killing on exit
[velodyne_nodelet_manager_transform-4] killing on exit
[velodyne_nodelet_manager_driver-3] killing on exit
[velodyne_nodelet_manager-2] killing on exit
[ INFO] [1736764073.829054742]: Waiting for the map

---

Saving map to pcd files ...
Processing feature cloud 0 of 1 ...****************************************************
Saving map to pcd files completed
[slam_gmapping_node-15] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done