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NAN error in g2o::optimizer::optimize(), anyone could help me? #844

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guoxxiong opened this issue Nov 22, 2024 · 2 comments
Closed

NAN error in g2o::optimizer::optimize(), anyone could help me? #844

guoxxiong opened this issue Nov 22, 2024 · 2 comments

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@guoxxiong
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bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
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measurement: 0.975, -0.566058
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
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bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: -nan, -nan
measurement: 0.975, -0.364369
teb_local_planner/g2o_types/edge_via_point.h
	line = 90
	cond = std::isfinite(_error[0])
	message = 
[FATAL] [1732258518.080993652]: EdgeViaPoint::computeError() _error[0]=-nan
@RainerKuemmerle
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RainerKuemmerle commented Nov 23, 2024 •
edited
Loading

I think, you are using the TEB planner inside ROS. You need to check the implementation there.
https://github.com/rst-tu-dortmund/teb_local_planner/blob/noetic-devel/include/teb_local_planner/g2o_types/edge_via_point.h#L88

Maybe no measurement is set, a wrong measurement, the band generated a NaN beforehand.
Actually, the print shows that the band contains NaN already.
You need to debug your TEB and what you provide as input.

@guoxxiong
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@RainerKuemmerle
Hi,
I found that an inf is included with "_b" and "_hessian" in vertices, but the last "_estimate" before this is normal. I 'm guessing what causes this phenomenon in general. Would you like to give some suggestions? I have checked the input data was correct.

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@RainerKuemmerle @guoxxiong