Errors in Kinetic / ARM

[MrDadaGuy]

Hi, I'm really impressed with this code but have run into a couple of issues, I think might be related.

First, I constantly get this error:

[ERROR] [1543867337.867718293]: [CREATE] Unknown mode detected: 252743663270254058981690501133436787895498668826663733637000776013412360950214277709398187746400460009372844193492090595425297940066201946348352200523363198873163318461413287195509944170593093187536689539940275561930708793405606929731851927692420771088109218725054971849345505388159995781185415942242304.000000

I've modified the code to spit out the mode value, this is the very large number.

Additionally, I can't visualize odometry in rviz because of a similar problem. Some of the covariance numbers are just huge:

pose: pose: position: x: 0.000722417084035 y: -7.40265249988e-07 z: 0.0 orientation: x: 0.0 y: 0.0 z: -0.00102470564418 w: 0.999999474989 covariance: [0.000361207639798522, -7.402609298878815e-07, 0.0, 0.0, 0.0, -0.0010246954625472426, -7.402609867313004e-07, 4.551321985957202e-09, 0.0, 0.0, 0.0, 1.0500214557396248e-05, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, -0.0010246954625472426, 1.0500214557396248e-05, 0.0, 0.0, 0.0, 0.026162702590227127]

I've forked the repo and I'd do my best to make changes / fixes if you can point me in the right direction. Thanks!

[MrDadaGuy]

To add - I'm on Raspberry Pi using Ubuntu Mate.

[MrDadaGuy]

In case anyone else has this problem, it seems the values in the CPP file were too large for RViz so we hard coded the values to something smaller and got past this issue.

[jacobperron]

Apologies for the delayed response.

I believe #61 resolves the rendering issues in RViz.

Regarding the mode error, I have a few questions:

Which robot model are you using?

Can you post the print statement you added and where you added it?