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This first battle of the Clone Wars was a victory for the Republic, but Yoda was troubled. Too much had been clouded by the dark side, and the judgment of the Jedi order was perhaps sullied by complacency and arrogance. Not only had many Jedi died on Geonosis, but the very nature of death itself was now unclear to the wise old master. While meditating, Yoda had felt a traumatic event befall young Anakin Skywalker. At that very moment, he also heard the voice of Qui-Gon Jinn, a Jedi Master slain a decade previous. It was impossible for a Jedi to retain his identity after becoming one with the Force, yet he had heard it.
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It was another dangerous and disturbing puzzle for Yoda to solve while the Republic collapsed around him.
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From starwars.com