imu_odom_error_carto_down

F0105 11:13:05.804167  3661 pose_tracker.cc:48] Check failed: rotation_vector. norm() < 3.14159265358979323846 / 2. (1464.46 vs. 1.5708) Sigma point is far from the mean, recovered delta may be incorrect.

[FATAL] [/cartographer_node:ScopedRosLogSink::send-63]:F0105 11:13:05.000000 3661 pose_tracker.cc:48] Check failed: rotation_vector.norm() < 3. 14159265358979323846 / 2. (1464.46 vs. 1.5708) Sigma point is far from the mean, recovered delta may be incorrect.

*** Check failure stack trace: ***

Q_to_E:--- roll:[0.000000] pitch:[-0.000000] yaw:[199.399997] ---seq[233725]

Q_to_E:--- roll:[0.000000] pitch:[-0.000000] yaw:[198.599997] ---seq[233726]

Q_to_E:--- roll:[0.000000] pitch:[0.000000] yaw:[17.099994] ---seq[233727]

Q_to_E:--- roll:[0.000000] pitch:[-0.000000] yaw:[196.899997] ---seq[233728]

Q_to_E:--- roll:[0.000000] pitch:[-0.000000] yaw:[196.099997] ---seq[233729]

=====================================================================================

---------imu

header: seq: 233726

  stamp: secs: 1515044477

    nsecs: 930958246 frame_id: gyro_link orientation: x: -0.0

  y: 0.0

  z: 0.986855721184

  w: -0.161603791928 orientation_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1. 7976931348623157e+308, 0.0, 0.0, 0.0, 0.05]

angular_velocity: x: 0.0

  y: 0.0

  z: -0.349065844444 angular_velocity_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1. 7976931348623157e+308, 0.0, 0.0, 0.0, 0.05]

linear_acceleration: x: 0.0

  y: 0.0

  z: 0.0 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

--- header: seq: 233727

  stamp: secs: 1515044477

    nsecs: 972999331 frame_id: gyro_link orientation: x: 0.0

  y: -0.0

  z: -0.148672378385

  w: -0.98888650709 orientation_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1. 7976931348623157e+308, 0.0, 0.0, 0.0, 0.05]

angular_velocity: x: 0.0

  y: 0.0

  z: 342.328873647 angular_velocity_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1. 7976931348623157e+308, 0.0, 0.0, 0.0, 0.05]

linear_acceleration: x: 0.0

  y: 0.0

  z: 0.0 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

--- header: seq: 233728

  stamp: secs: 1515044478

    nsecs:  14423072 frame_id: gyro_link orientation: x: -0.0

  y: 0.0

  z: 0.989144479108

  w: -0.146946246807 orientation_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1. 7976931348623157e+308, 0.0, 0.0, 0.0, 0.05]

angular_velocity: x: 0.0

  y: 0.0

  z: -0.331612552222 angular_velocity_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1. 7976931348623157e+308, 0.0, 0.0, 0.0, 0.05]

linear_acceleration: x: 0.0

  y: 0.0

  z: 0.0 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

---

===============================================================================

-------- odom

header: seq: 233726

  stamp: secs: 1515044477

    nsecs: 930892044 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: -26.05

      y: -18.52

      z: 0.0 orientation: x: 0.0

      y: 0.0

      z: 0.710799464386

      w: 0.703394712397 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

twist: twist: linear: x: 0.005

      y: 0.0

      z: 0.0 angular: x: 0.0

      y: 0.0

      z: -0.31415926 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

--- header: seq: 233727

  stamp: secs: 1515044477

    nsecs: 972963168 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: -26.05

      y: -15099512.92

      z: 0.0 orientation: x: 0.0

      y: 0.0

      z: 0.0

      w: 1.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

twist: twist: linear: x: -31.731

      y: 0.257

      z: 0.0 angular: x: 0.0

      y: 0.0

      z: 11.6064393278 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

--- header: seq: 233728

  stamp: secs: 1515044478

    nsecs:  14358607 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: -26.05

      y: -18.52

      z: 0.0 orientation: x: 0.0

      y: 0.0

      z: 0.701531416319

      w: 0.71263852823 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

twist: twist: linear: x: 0.003

      y: -0.001

      z: 0.0 angular: x: 0.0

      y: 0.0

      z: -0.349065844444 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

--- header: seq: 233729

  stamp: secs: 1515044478

    nsecs:  55467950 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: -26.05

      y: -18.52

      z: 0.0 orientation: x: 0.0

      y: 0.0

      z: 0.696539205515

      w: 0.717518735073 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

twist: twist: linear: x: 0.001

      y: 0.0

      z: 0.0 angular: x: 0.0

      y: 0.0

      z: -0.296705967778 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 .0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]