问题

 运行程序出现：

Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for
child_frame_id “odom” from authority “unknown_publisher” because of an
invalid quaternion in the transform (0.0 0.0 0.0 0.707)

 主要是四元数没有归一化

Eigen::Quaternionf qq(this->extrinsics.baselink2lidar.R);

transformStamped.transform.rotation.w = qq.w();

transformStamped.transform.rotation.x = qq.x();

transformStamped.transform.rotation.y = qq.y();

transformStamped.transform.rotation.z = qq.z();

解决方法

将上述四元素qq归一化

Eigen::Quaternionf qq(this->extrinsics.baselink2lidar.R);

qq.normalize();

transformStamped.transform.rotation.w = qq.w();

transformStamped.transform.rotation.x = qq.x();

transformStamped.transform.rotation.y = qq.y();

transformStamped.transform.rotation.z = qq.z();