ROS2: Is the camera.launch example supposed to publish IMU data?

ParrotOwl

I've been trying to get the IMU data to be published using

ros2 launch depthai_ros_driver camera.launch.py

The /oak/imu/data topic gets created, however there aren't any messages being published to it.

Looking at the camera.yaml file, there is a line which enables the IMU:

i_enable_imu: true

I am 99% certain that this used to work, and data was being published however I can't seem to have the driver publish any IMU data (anymore?)

erik

Hi ParrotOwl ,
Could you also first check the depthai library itself; does Accelero & Gryo example work?
Thanks, Erik

ParrotOwl

erik
Hey Erik! I can confirm that I am getting IMU data:

sleziak@bubble:~/depthai-python/examples/IMU$ python3 imu_gyroscope_accelerometer.py

Accelerometer timestamp: 0.000 ms

Accelerometer [m/s^2]: x: -9.890448 y: -0.114922 z: -0.232238

Gyroscope timestamp: 0.000 ms

Gyroscope [rad/s]: x: 0.001065 y: 0.000000 z: -0.005326

Accelerometer timestamp: 2.481 ms

Accelerometer [m/s^2]: x: -9.871294 y: -0.114922 z: -0.246603

Gyroscope timestamp: 2.481 ms

ParrotOwl

Update:

Turns out that the example does publish IMU data, sometimes. Looks like it's more than just a configuration issue. I've filed a bug report

marlu

I confirm that also ROS1 camera.launch publish/not publish the IMU data.

marlu

@ParrotOwl do you have any news regarding this issue?

Luxonis-Adam

Hi, regarding IMU data, we've released a new version that changes a few things regarding IMU publishing and adds more parameters to tune, those bugs when IMU stops publishing seem firmware related and will be hopefully fixed in the next release.