Khush Jain

Hey @ivanpauno, I would like to work on this issue. Can you help me out? I took a look at the file you mentioned and came up with some code...

I get TF_NAN_INPUT #15 issue when using [this PR](https://github.com/pmusau17/ar_track_alvar/tree/noetic-devel) on Noetic, Ubuntu 20.04.. I made a [bag file](https://drive.google.com/file/d/1dp3rgE90VoDHYgtDzWkn3iKH2vWNOe3Q/view?usp=sharing) for the same. `Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "ar_marker_1" from authority...

For the first commit, i put up some testcase which failed without the patch. For the second commit, iirc, decoding doesn't work with primitive types i.e. you always need to...