{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_tutorials/issues/412","labels_url":"https://api.github.com/repos/start-jsk/rtmros_tutorials/issues/412/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_tutorials/issues/412/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_tutorials/issues/412/events","html_url":"https://github.com/start-jsk/rtmros_tutorials/issues/412","id":111128099,"number":412,"title":"hrpsys-simulatorでgo-posできない","user":{"login":"mizmizo","id":9444486,"avatar_url":"https://avatars.githubusercontent.com/u/9444486?v=3","gravatar_id":"","url":"https://api.github.com/users/mizmizo","html_url":"https://github.com/mizmizo","followers_url":"https://api.github.com/users/mizmizo/followers","following_url":"https://api.github.com/users/mizmizo/following{/other_user}","gists_url":"https://api.github.com/users/mizmizo/gists{/gist_id}","starred_url":"https://api.github.com/users/mizmizo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mizmizo/subscriptions","organizations_url":"https://api.github.com/users/mizmizo/orgs","repos_url":"https://api.github.com/users/mizmizo/repos","events_url":"https://api.github.com/users/mizmizo/events{/privacy}","received_events_url":"https://api.github.com/users/mizmizo/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-10-13T08:09:58Z","updated_at":"2015-10-13T08:57:15Z","closed_at":null,"body":"http://wiki.ros.org/rtmros_common/Tutorials/AddRobotsEnvironmentsHrpsysSimulator\r\nの3.1.2に従ってHRP2JSKのトルクモードでのシミュレーションを試そうとしたところ、\r\nstart-auto-balancer,start-stの後go-posしようとするとエラーが出てシミュレートが止まってしまいます。どなたか原因、対処ご存知でしょうか\r\n\r\nログは以下のとおりです\r\n\r\nhrpsys-simulator側\r\n```\r\n[abc] start auto balancer mode\r\n[abc]   limb [rleg]\r\n[abc]   limb [lleg]\r\n[ INFO] [1444722614.202279850, 239.245000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1771 Hz, dropped 1001)\r\n[ INFO] [1444722615.202812774, 240.245000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1775 Hz, dropped 1000)\r\n[ INFO] [1444722615.323623849, 240.355000000]: AutoBalancerServiceROSBridge::startAutoBalancer() succeeded\r\n[ INFO] [1444722616.218265199, 241.247000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1802 Hz, dropped 1001)\r\n[INFO] [WallTime: 1444722616.913234] [241.950000] check 143 collision status, 28.469042 Hz\r\n[ INFO] [1444722617.219984406, 242.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1776 Hz, dropped 1001)\r\n[ INFO] [1444722618.220973322, 243.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1778 Hz, dropped 1000)\r\n[ INFO] [1444722619.221775091, 244.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1770 Hz, dropped 1000)\r\n[rtmlaunch] check connection/activation\r\n[ INFO] [1444722620.222229182, 245.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 999[Hz] (exec 1733 Hz, dropped 999)\r\n[ INFO] [1444722621.222976124, 246.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1775 Hz, dropped 1000)\r\n[INFO] [WallTime: 1444722621.934558] [246.969000] check 143 collision status, 28.497409 Hz\r\n[ INFO] [1444722622.223249960, 247.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1774 Hz, dropped 1001)\r\n[ INFO] [1444722623.223695659, 248.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 999[Hz] (exec 1779 Hz, dropped 999)\r\n[ INFO] [1444722624.224409839, 249.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 999[Hz] (exec 1770 Hz, dropped 999)\r\n[ INFO] [1444722624.852055961, 249.879000000]: StabilizerServiceROSBridge::startStabilizer() called\r\n[st] Start ST\r\n[st] Sync IDLE => ST\r\n[ INFO] [1444722625.224936964, 250.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1778 Hz, dropped 1000)\r\n[ INFO] [1444722626.225303166, 251.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1783 Hz, dropped 1000)\r\n[st] Start ST DONE\r\n[ INFO] [1444722626.853275186, 251.879000000]: StabilizerServiceROSBridge::startStabilizer() succeeded\r\n[INFO] [WallTime: 1444722626.958280] [251.986000] check 143 collision status, 28.497409 Hz\r\n[ INFO] [1444722627.226042368, 252.249000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1775 Hz, dropped 1001)\r\n[ INFO] [1444722628.226253511, 253.248000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 998[Hz] (exec 1785 Hz, dropped 998)\r\n[ INFO] [1444722629.226459313, 254.244000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 996[Hz] (exec 1794 Hz, dropped 996)\r\n[ INFO] [1444722630.227693475, 255.246000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1002[Hz] (exec 1773 Hz, dropped 1002)\r\n[rtmlaunch] check connection/activation\r\n[ INFO] [1444722631.229272328, 256.247000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1002[Hz] (exec 1758 Hz, dropped 1002)\r\n[INFO] [WallTime: 1444722632.004795] [257.010000] check 143 collision status, 28.463376 Hz\r\n[ INFO] [1444722632.229489918, 257.244000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 996[Hz] (exec 1769 Hz, dropped 996)\r\n[ INFO] [1444722633.229931618, 258.245000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1775 Hz, dropped 1001)\r\n[ INFO] [1444722634.230475765, 259.241000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 995[Hz] (exec 1759 Hz, dropped 995)\r\n[ INFO] [1444722635.230689308, 260.241000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1785 Hz, dropped 1000)\r\n[ INFO] [1444722636.231155906, 261.242000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1792 Hz, dropped 1001)\r\n[INFO] [WallTime: 1444722637.025111] [262.026000] check 143 collision status, 28.508772 Hz\r\n[ INFO] [1444722637.231917135, 262.242000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1788 Hz, dropped 1000)\r\n[ INFO] [1444722638.232729971, 263.243000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1791 Hz, dropped 1001)\r\n[ INFO] [1444722639.233057857, 264.244000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1777 Hz, dropped 1001)\r\n[ INFO] [1444722640.233559702, 265.246000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1002[Hz] (exec 1774 Hz, dropped 1002)\r\n[ INFO] [1444722641.234303294, 266.244000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 996[Hz] (exec 1789 Hz, dropped 996)\r\n[rtmlaunch] check connection/activation\r\n[INFO] [WallTime: 1444722642.051686] [267.047000] check 143 collision status, 28.480382 Hz\r\n[ INFO] [1444722642.234562077, 267.241000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 998[Hz] (exec 1758 Hz, dropped 998)\r\n[ INFO] [1444722643.234875333, 268.243000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1740 Hz, dropped 1001)\r\n[ INFO] [1444722644.235799791, 269.244000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1001[Hz] (exec 1783 Hz, dropped 1001)\r\n[ INFO] [1444722644.733304275, 269.733000000]: AutoBalancerServiceROSBridge::goPos() called\r\nstart ref coords\r\n  pos =\r\n    [1.88738e-17,  0,  7.63278e-17]\r\n  rot =\r\n    [           1,  1.31655e-36, -5.55112e-17]\r\n    [-1.50463e-36,            1,  3.00927e-36]\r\n    [ 5.55112e-17,  3.00927e-36,            1]\r\ngoal ref midcoords\r\n  pos =\r\n    [0.1,  -1.50463e-37,  8.18789e-17]\r\n  rot =\r\n    [           1,  1.41059e-36, -5.55112e-17]\r\n    [-1.41059e-36,            1,  3.91518e-53]\r\n    [ 5.55112e-17,  3.91518e-53,            1]\r\n[0] footstep\r\n  name = [lleg]\r\n  pos = [3.64431e-16,  0.105,  1.52656e-16]\r\n  rot = [           1, -6.77626e-21, -1.72085e-15] [ 6.77626e-21,            1, -2.37169e-20] [ 1.72085e-15,  2.37169e-20,            1]\r\n  step_height = 0[m], step_time = 1.1[s], toe_angle = 0[deg], heel_angle = 0[deg]\r\n[1] footstep\r\n  name = [rleg]\r\n  pos = [0.1,  -0.105,  3.24735e-16]\r\n  rot = [           1, -6.77626e-21, -1.72085e-15] [ 6.77626e-21,            1, -2.37169e-20] [ 1.72085e-15,  2.37169e-20,            1]\r\n  step_height = 0.05[m], step_time = 1.1[s], toe_angle = 0[deg], heel_angle = 0[deg]\r\n[2] footstep\r\n  name = [lleg]\r\n  pos = [0.1,  0.105,  3.2474e-16]\r\n  rot = [           1, -6.77626e-21, -1.72085e-15] [ 6.77626e-21,            1, -2.37169e-20] [ 1.72085e-15,  2.37169e-20,            1]\r\n  step_height = 0.05[m], step_time = 1.1[s], toe_angle = 0[deg], heel_angle = 0[deg]\r\n[3] footstep\r\n  name = [rleg]\r\n  pos = [0.1,  -0.105,  3.24735e-16]\r\n  rot = [           1, -6.77626e-21, -1.72085e-15] [ 6.77626e-21,            1, -2.37169e-20] [ 1.72085e-15,  2.37169e-20,            1]\r\n  step_height = 0[m], step_time = 1.1[s], toe_angle = 0[deg], heel_angle = 0[deg]\r\n[ INFO] [1444722644.734436167, 269.733000000]: AutoBalancerServiceROSBridge::goPos() succeeded\r\n[ INFO] [1444722644.736250084, 269.735000000]: AutoBalancerServiceROSBridge::waitFootSteps() called\r\n[ INFO] [1444722645.236852219, 270.244000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 1000[Hz] (exec 1787 Hz, dropped 1000)\r\n[st] CP too large error 0.169479\r\nvelocity limit over LLEG_JOINT5(11), qvel=-16.7073, lvlimit =-9.14269, uvlimit =9.14269, servo_state = ON\r\n[es] emergencySignal is set!\r\n[st] CP too large error 0.48209\r\nerror limit over LLEG_JOINT5(11), qRef=-0.113036, qCurrent=0.077654 , Error=-0.19069 > 0.18 (limit), servo_state = ON, q=-0.113036\r\n[st] CP too large error 1.2289\r\n[st] CP too large error 1.91721\r\n[st] CP too large error 2.39948\r\n16:50:45.948489: servo error limit over: joint = RLEG_JOINT0, qRef = 2.0294[deg], q = -11227.7[deg]\r\n[st] CP too large error 0.660246\r\nerror limit over RLEG_JOINT1(1), qRef=-0.12836, qCurrent=-235.189 , Error=235.061 > 0.18 (limit), servo_state = ON, q=-0.12836\r\nerror limit over RLEG_JOINT2(2), qRef=-0.359731, qCurrent=-177.622 , Error=177.262 > 0.18 (limit), servo_state = ON, q=-0.359731\r\nerror limit over RLEG_JOINT3(3), qRef=0.741726, qCurrent=-191.173 , Error=191.915 > 0.18 (limit), servo_state = ON, q=0.741726\r\nerror limit over RLEG_JOINT4(4), qRef=-0.430757, qCurrent=-190.962 , Error=190.532 > 0.18 (limit), servo_state = ON, q=-0.430757\r\nerror limit over RLEG_JOINT5(5), qRef=0.277811, qCurrent=-332.029 , Error=332.307 > 0.18 (limit), servo_state = ON, q=0.277811\r\nerror limit over LLEG_JOINT0(6), qRef=0.00384024, qCurrent=204.831 , Error=-204.827 > 0.18 (limit), servo_state = ON, q=0.00384024\r\nerror limit over LLEG_JOINT1(7), qRef=-0.126828, qCurrent=215.619 , Error=-215.745 > 0.18 (limit), servo_state = ON, q=-0.126828\r\nerror limit over LLEG_JOINT2(8), qRef=-0.469498, qCurrent=176.741 , Error=-177.211 > 0.18 (limit), servo_state = ON, q=-0.469498\r\nerror limit over LLEG_JOINT3(9), qRef=0.897623, qCurrent=154.202 , Error=-153.305 > 0.18 (limit), servo_state = ON, q=0.897623\r\nerror limit over LLEG_JOINT4(10), qRef=-0.414137, qCurrent=124.487 , Error=-124.901 > 0.18 (limit), servo_state = ON, q=-0.414137\r\nerror limit over LLEG_JOINT5(11), qRef=0.192751, qCurrent=223.8 , Error=-223.607 > 0.18 (limit), servo_state = ON, q=0.192751\r\nerror limit over CHEST_JOINT0(12), qRef=-5.29396e-23, qCurrent=-9.52254 , Error=9.52254 > 0.18 (limit), servo_state = ON, q=-5.29396e-23\r\nerror limit over CHEST_JOINT1(13), qRef=-4.33681e-19, qCurrent=33.2864 , Error=-33.2864 > 0.18 (limit), servo_state = ON, q=-4.33681e-19\r\nerror limit over HEAD_JOINT1(15), qRef=1.01644e-20, qCurrent=1.20236 , Error=-1.20236 > 0.18 (limit), servo_state = ON, q=1.01644e-20\r\nerror limit over RARM_JOINT0(16), qRef=0.174533, qCurrent=5.73566 , Error=-5.56113 > 0.18 (limit), servo_state = ON, q=0.174533\r\nerror limit over RARM_JOINT1(17), qRef=-0.174533, qCurrent=-6.76943 , Error=6.59489 > 0.18 (limit), servo_state = ON, q=-0.174533\r\nerror limit over RARM_JOINT2(18), qRef=3.30872e-24, qCurrent=-3.02582 , Error=3.02582 > 0.18 (limit), servo_state = ON, q=3.30872e-24\r\nerror limit over RARM_JOINT3(19), qRef=-0.436332, qCurrent=4.37131 , Error=-4.80764 > 0.18 (limit), servo_state = ON, q=-0.436332\r\nerror limit over RARM_JOINT4(20), qRef=-5.16988e-26, qCurrent=-1.28629 , Error=1.28629 > 0.18 (limit), servo_state = ON, q=-5.16988e-26\r\nerror limit over RARM_JOINT5(21), qRef=0, qCurrent=-3.042 , Error=3.042 > 0.18 (limit), servo_state = ON, q=0\r\nerror limit over RARM_JOINT6(22), qRef=-0.174533, qCurrent=2.72107 , Error=-2.8956 > 0.18 (limit), servo_state = ON, q=-0.174533\r\nerror limit over LARM_JOINT0(24), qRef=0.174533, qCurrent=1.02051 , Error=-0.845981 > 0.18 (limit), servo_state = ON, q=0.174533\r\nerror limit over LARM_JOINT1(25), qRef=0.174533, qCurrent=17.1269 , Error=-16.9524 > 0.18 (limit), servo_state = ON, q=0.174533\r\nerror limit over LARM_JOINT2(26), qRef=6.61744e-24, qCurrent=10.742 , Error=-10.742 > 0.18 (limit), servo_state = ON, q=6.61744e-24\r\nerror limit over LARM_JOINT3(27), qRef=-0.436332, qCurrent=4.68968 , Error=-5.12601 > 0.18 (limit), servo_state = ON, q=-0.436332\r\nerror limit over LARM_JOINT4(28), qRef=0, qCurrent=4.90611 , Error=-4.90611 > 0.18 (limit), servo_state = ON, q=0\r\nerror limit over LARM_JOINT5(29), qRef=0, qCurrent=13.3819 , Error=-13.3819 > 0.18 (limit), servo_state = ON, q=0\r\nerror limit over LARM_JOINT6(30), qRef=-0.174533, qCurrent=5.20046 , Error=-5.375 > 0.18 (limit), servo_state = ON, q=-0.174533\r\n16:50:45.952623: servo error limit over: joint = RLEG_JOINT1, qRef = -13475.3[deg], q = 1.60856e+58[deg]\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\n[ERROR] [1444722646.123439875, 270.967000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=nan,nan,nan)\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\nERROR nan/inf is found\r\n[ERROR] [1444722646.232024583, 270.971000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=nan,nan,nan)\r\n[ INFO] [1444722646.258554332, 270.972000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 728[Hz] (exec 1816 Hz, dropped 728)\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"CHEST_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"CHEST_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"HEAD_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"HEAD_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp[ERROR] [1444722646.268840550, 270.972000000]: Ignoring transform for child_frame_id \"CHEST_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in [ERROR] [1444722646.268902222, 270.972000000]: Ignoring transform for child_frame_id \"CHEST_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n/tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\n[ERROR] [1444722646.268964644, 270.972000000]: Ignoring transform for child_frame_id \"HEAD_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\n[ERROR] [1444722646.269019834, 270.972000000]: Ignoring transform for child_frame_id \"HEAD_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269045789, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269062211, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269078437, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269093102, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269120520, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269130409, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269138624, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269149695, 270.972000000]: Ignoring transform for child_frame_id \"LARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269157996, 270.972000000]: Ignoring transform for child_frame_id \"LLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269168493, 270.972000000]: Ignoring transform for child_frame_id \"LLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269177242, 270.972000000]: Ignoring transform for child_frame_id \"LLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269186038, 270.972000000]: Ignoring transform for child_frame_id \"LLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269193803, 270.972000000]: Ignoring transform for child_frame_id \"LLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269201349, 270.972000000]: Ignoring transform for child_frame_id \"LLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269209292, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269216995, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269228322, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269239733, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269248056, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269259450, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269267451, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269278364, 270.972000000]: Ignoring transform for child_frame_id \"RARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269287421, 270.972000000]: Ignoring transform for child_frame_id \"RLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269296143, 270.972000000]: Ignoring transform for child_frame_id \"RLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269304406, 270.972000000]: Ignoring transform for child_frame_id \"RLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269313025, 270.972000000]: Ignoring transform for child_frame_id \"RLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269321783, 270.972000000]: Ignoring transform for child_frame_id \"RLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n[ERROR] [1444722646.269330287, 270.972000000]: Ignoring transform for child_frame_id \"RLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n```\r\n\r\nirteusgl側\r\n```\r\n10.E3-irteusgl$ send *ri* :start-auto-balancer\r\n#<hrpsys_ros_bridge::openhrp_autobalancerservice_startautobalancerresponse #Xa509d10>\r\n11.E3-irteusgl$ send *ri* :start-st\r\n#<hrpsys_ros_bridge::openhrp_stabilizerservice_startstabilizerresponse #Xa517688>\r\n12.E3-irteusgl$ send *ri* :go-pos 0.1 0 0\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"CHEST_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan valu\\\r\ne in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"CHEST_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan valu\\\r\ne in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"HEAD_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"HEAD_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"CHEST_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan valu\\\r\ne in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"CHEST_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan valu\\\r\ne in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"HEAD_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"HEAD_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK6\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LARM_LINK7\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK1\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK2\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK3\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK4\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"LLEG_LINK5\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\nError:   TF_NAN_INPUT: Ignoring transform for child_frame_id \"RARM_LINK0\" from authority \"/hrpsys_state_publisher\" because of a nan value\\\r\n in the transform (-nan -nan -nan) (-nan -nan -nan -nan)\r\n         at line 240 in /tmp/buildd/ros-hydro-tf2-0.4.12-0precise-20150327-1914/src/buffer_core.cpp\r\n```\r\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/rtmros_tutorials/issues/comments/147652935","html_url":"https://github.com/start-jsk/rtmros_tutorials/issues/412#issuecomment-147652935","issue_url":"https://api.github.com/repos/start-jsk/rtmros_tutorials/issues/412","id":147652935,"user":{"login":"mizmizo","id":9444486,"avatar_url":"https://avatars.githubusercontent.com/u/9444486?v=3","gravatar_id":"","url":"https://api.github.com/users/mizmizo","html_url":"https://github.com/mizmizo","followers_url":"https://api.github.com/users/mizmizo/followers","following_url":"https://api.github.com/users/mizmizo/following{/other_user}","gists_url":"https://api.github.com/users/mizmizo/gists{/gist_id}","starred_url":"https://api.github.com/users/mizmizo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mizmizo/subscriptions","organizations_url":"https://api.github.com/users/mizmizo/orgs","repos_url":"https://api.github.com/users/mizmizo/repos","events_url":"https://api.github.com/users/mizmizo/events{/privacy}","received_events_url":"https://api.github.com/users/mizmizo/received_events","type":"User","site_admin":false},"created_at":"2015-10-13T08:57:15Z","updated_at":"2015-10-13T08:57:15Z","body":"rostopic echo /odomの結果です\r\n```\r\n---\r\nheader: \r\n  seq: 347879\r\n  stamp: \r\n    secs: 1402\r\n    nsecs: 678999973\r\n  frame_id: odom\r\nchild_frame_id: BODY\r\npose: \r\n  pose: \r\n    position: \r\n      x: -0.00573303728768\r\n      y: -0.00180673064218\r\n      z: 0.658701851183\r\n    orientation: \r\n      x: 1.60936259978e-20\r\n      y: 2.77555756156e-17\r\n      z: 2.82118644197e-37\r\n      w: 1.0\r\n  covariance: [5.566079999751641e-06, 8.440430350014493e-58, 0.0, 0.0, 0.0, 0.0, 8.440430350014493e-58, 5.566079999751641e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.566079999751641e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.566079999751641e-06, 8.440430350014493e-58, 0.0, 0.0, 0.0, 0.0, 8.440430350014493e-58, 5.566079999751641e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.566079999751641e-06]\r\ntwist: \r\n  twist: \r\n    linear: \r\n      x: 1.08420217249e-15\r\n      y: 2.16840434497e-16\r\n      z: 6.01783312644e-32\r\n    angular: \r\n      x: 0.0\r\n      y: 0.0\r\n      z: 0.0\r\n  covariance: [1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06]\r\n---\r\n```"}}