warning for markers with uninitialized quaternions solved

params/iri_ground_segmentation.yaml

-iri_ground_segmentation: {
-  sensor_height: 0.27, #1.10,
-
-  mahalanobis_threshold: 2.0, #3.0,
-
-  z_initial_std_dev: 0.1, #0.04,
-  initial_angular_std_dev_deg: 2.0, #1.333,
-
-  ground_reference_search_resolution_deg: 30.0, #30.0,
-
-  elevation_grid_resolution: 1.0, #0.1,
-
-  angle_reduction_factor: 0.8, #0.5, #0.666, 
-  search_limit_in_shadow_area: 1.2, #2.2, #2.2, #3.0,
-
-  distance_to_virtual_references_in_shadow_area: 1.2, #2.75,
-
-  propagation_z_additive_noise_per_meter: 0.04,
-  propagation_additive_noise_deg_per_meter: 0.666, #0.025,
-  z_observation_std_dev: 0.1, #0.1,
-
-  robot_width: 1.05,
-  safety_margin: 0.5,
-
-  measure_performance: false,
-  show_dense_reconstruction: false
-}

src/ground_segmentation_alg.cpp

@@ -70,6 +70,12 @@ void GroundSegmentationAlgorithm::segmentGround(pcl::PointCloud<pcl::PointXYZRGB
     vertex.pose.position.x = ground_ref.x;
     vertex.pose.position.y = ground_ref.y;
     vertex.pose.position.z = ground_ref.z;
+
+    vertex.pose.orientation.x = 0.0;
+    vertex.pose.orientation.y = 0.0;
+    vertex.pose.orientation.z = 0.0;
+    vertex.pose.orientation.w = 1.0;
+
     vertex.scale.x = 0.15;
     vertex.scale.y = 0.15;
     vertex.scale.z = 0.30;
@@ -112,6 +118,11 @@ void GroundSegmentationAlgorithm::segmentGround(pcl::PointCloud<pcl::PointXYZRGB
 
       edge.scale.x = 0.05;
 
+      edge.pose.orientation.x = 0.0;
+      edge.pose.orientation.y = 0.0;
+      edge.pose.orientation.z = 0.0;
+      edge.pose.orientation.w = 1.0;
+
       edge.color.a = 0.7; // Don't forget to set the alpha!
       edge.color.r = 0.8;
       edge.color.g = 0.53;