joint_state_publisher_gui gives errors on using revolute joints with inf limits in SDF #105
Description
I have defined my revolute joint in SDF like this:
<joint name="test_joint" type="revolute">
<parent>base_link</parent>
<child>test_link</child>
<pose relative_to="base_link">1 1 1 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-inf</lower>
<upper>inf</upper>
</limit>
</axis>
</joint>I get the following errors:
[joint_state_publisher_gui-1] [INFO] [1733051122.369655512] [joint_state_publisher_gui]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-1] [INFO] [1733051122.387361215] [joint_state_publisher_gui]: Centering
[joint_state_publisher_gui-1] [INFO] [1733051122.495230202] [joint_state_publisher_gui]: Centering
[joint_state_publisher_gui-1] Traceback (most recent call last):
[joint_state_publisher_gui-1] File "/opt/ros/jazzy/lib/python3.12/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py", line 207, in initializeSliders
[joint_state_publisher_gui-1] self.centerEvent(None)
[joint_state_publisher_gui-1] File "/opt/ros/jazzy/lib/python3.12/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py", line 245, in centerEvent
[joint_state_publisher_gui-1] joint_info['slider'].setValue(self.valueToSlider(joint['zero'], joint))
[joint_state_publisher_gui-1] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[joint_state_publisher_gui-1] File "/opt/ros/jazzy/lib/python3.12/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py", line 255, in valueToSlider
[joint_state_publisher_gui-1] return int((value - joint['min']) * float(RANGE) / (joint['max'] - joint['min']))
[joint_state_publisher_gui-1] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[joint_state_publisher_gui-1] ValueError: cannot convert float NaN to integer
Then I get the below errors upon moving the sliders.
[rviz2-3] [ERROR] [1733051135.281374250] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "test_link" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
[rviz2-3] [ERROR] [1733051135.281509904] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "test_link" from authority "Authority undetectable" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
I think the infinite values for the limit cause this. I can not use a continuous joint in my case as Gazebo does not support it.