error：buildSystem(): NaN within Jacobian for edge 0x7fffd40016c0 for vertex 1

[Fancy-a-good-name]

When I use g2o for teb optimization, the following error occurs：buildSystem(): NaN within Jacobian for edge 0x7fffd40016c0 for vertex 1;buildSystem(): NaN within Jacobian for edge 0x7fffd40013b0 for vertex 0.
This error occurs during the run, not the compilation
When doing the buildgraph, I follow the build process of teb in ros,
This problem bothered me for several days, and I couldn't find a way to solve it.
I hope some friends who understand this problem can give me some ideas on how to solve it.
thanks!!!

[Lishen1]

probably some numerical problem occurs in error() function due to incorrect input data or due to your implementation of error() function in graph edge.

[RainerKuemmerle]

Seems similar to this issue discussed at the teb repository: rst-tu-dortmund/teb_local_planner#384

[RainerKuemmerle]

Closing, as most likely the issue is inside the implemented error function.

[Fancy-a-good-name]

Thank you very much. My problem has been solved. The reason is that when I was in the buildgraph, the data was wrong, which led to the failure of the buildgraph