ROS1 Publish Transform Tree Denormalized Quaternion Issue in Version 2023.1.1

[eayb]

Hello,

I am trying to use the ROS1 Publish Transform Tree node in my action graph to publish a transform to /tf. However, it seems that this node outputs a quaternion that is not normalized in Isaac Sim version 2023.1.1. I do not have this issue in version 2022.1.1.

Here are the errors that I am getting:

Ignoring transform for child_frame_id “camera_base” from authority “unknown_publisher” because of an invalid quaternion in the transform (2.223619 -0.000000 -0.000000 -2.020441)
TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id “camera_base” from authority “unknown_publisher” because of an invalid quaternion in the transform (2.223619 -0.000000 -0.000000 -2.020441)

Thank you for your help!

[Ayush_G]

@eayb Where are seeing this issue? Is it with a specific scene or tutorial?

[eayb]

Hi @Ayush_G , thank you for your reply.

The problem does not depend on a particular scene. I was able to narrow the issue down and it seems that the quaternion is being denormalized when the scale in the object’s transform (or its parent’s transform) is different than (1.0, 1.0, 1.0). This only seems to be an issue in version 2023.1.1. It doesnt occur in 2022.1.1.

Here is an example to replicate the problem:

• Create a cube and camera in an empty scene then make the cube the parent of the camera
  

  
  
  
  

• Create an action graph with the ROS1 Publish Transform node
  

  

• In ROS1 Publish Transform, set the parent to the world transform and the target to the camera
  

  

• If you echo /tf at this stage, you will see that the quaternion is normalized
  

  

• Now change the scale of the camera or its parent and notice how the rotation quaternion in /tf is not normalized anymore.
  

  
  
  
  

I hope that this makes it clearer.
Thank you for your help!

[Ayush_G]

@eayb I have filed a bug, thanks for letting us know!

[himonee]

I got the same problem, would this bug be fixed soon?