Fix crash when setting covariance using null quaternion #1180
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wjwwood
approved these changes
Jan 3, 2018
rhaschke
reviewed
Jan 3, 2018
| { | ||
| ori.w = 1.0; | ||
| } | ||
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| // Set the orientation of the fixed node. Since this node is attached to the root node, it's orientation will be the | ||
| // inverse of pose's orientation. | ||
| fixed_orientation_node_->setOrientation(ori.Inverse()); |
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In contrast to #1179, this PR doesn't handle normalization of the quaternion. As ogre and rviz/ros might follow different normalization strategies, this might yield inconsistent results, because the quaternion is once normalized internally by ROS (see #1179 (comment)) before being passed to SceneNode::setOrientation and once (here) not.
We had been looking to avoid normalising the quaternions (just dealing with the null ones as the bare minimum) but as you pointed out they are being normalised anyway elsewhere. So now I agree and this PR will likely be closed in favour of #1179 |
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This is an alternative fix for #1137. The current fix in place is from #1139 which prevented the crash by rejecting the invalid quaternions.
The root cause of the crash was that, although the null quaternion is set to identity in
FrameManager::transform()at this line, it was still using the null quaternion for the covariance display.This will allow us to not reject null quaternions, which is important given the prevalence of invalid quaternions as uncovered by #1167