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Fix crash when setting covariance using null quaternion #1180

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Fix crash when setting covariance using null quaternion #1180

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7 changes: 7 additions & 0 deletions src/rviz/default_plugin/covariance_visual.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -300,6 +300,13 @@ void CovarianceVisual::setCovariance( const geometry_msgs::PoseWithCovariance& p

// store orientation in Ogre structure
Ogre::Quaternion ori(pose.pose.orientation.w, pose.pose.orientation.x, pose.pose.orientation.y, pose.pose.orientation.z);
// in the case that a null quaternion is in the message (e.g. if the field is uninitialized),
// set it to identity to prevent crashes
if (0.0 == ori.x && 0.0 == ori.y && 0.0 == ori.z && 0.0 == ori.w)
{
ori.w = 1.0;
}

// Set the orientation of the fixed node. Since this node is attached to the root node, it's orientation will be the
// inverse of pose's orientation.
fixed_orientation_node_->setOrientation(ori.Inverse());
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In contrast to #1179, this PR doesn't handle normalization of the quaternion. As ogre and rviz/ros might follow different normalization strategies, this might yield inconsistent results, because the quaternion is once normalized internally by ROS (see #1179 (comment)) before being passed to SceneNode::setOrientation and once (here) not.

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