When robot is ideal, Recieving WARNING: Eigensolver couldn't find a solution. Pose is not updated

[Rak-r]

When the robot is standing ideal in sim, it throws the mentioned warnings and as soon as I drive the robot it starts computing the odometry.

Is this behaviour is normal or am I missing something. Also I noticed in odometry message, sometimes why the orientation.w field changes like 0.14 when the robot turns sharp, is this normal adjusting of quaternians? Just wanted to clarify this.

Also, I am having rgb-d intel camera which I simulated in gazebo as well and using point_to_laserscan to get the scan topic and all the scans are having no -+inf.

For this scenario, are there any specific parameter I could include to handle range stuff? @JGMonroy

My odometry message: