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drone_arena's Issues

cf_mocap: TF_NAN_INPUT in transform between optitrack and cf/odom

The following error appears from time to time when the Crazyflie is powered on. It typically happens after replacing a battery.

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "cf/odom" from authority "/filtered_optitrack" because of a nan value in the transform (nan nan nan) (0.070818 0.221377 0.624411 0.745713)

The /optitrack/cf is ok and has no NaNs

Sometimes it helps to just power cycle the Crazyflie. Otherwise the cf_mocap container has to be restarted.

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