RGBD pipeline doesn't publish imu data

OlaElmaghraby

I have an OAK-d-PoE-w camera and When I used RGBD pipeline in the config files for the ros driver I lost the imu data and it wasn't published. How can I fix that?

jakaskerl

Hi @OlaElmaghraby
I think adding i_enable_imu: true under camera should enable the IMU topic as well.

Thanks,
Jaka

OlaElmaghraby

jakaskerl yeah I have i_enable_imu: true in the config file but it is still not published and when I try different pipelines it publishes the imu data.

jakaskerl

Hi @OlaElmaghraby
Can you post the full yaml please?

Thanks,
Jaka

OlaElmaghraby

jakaskerl

/oak_d_left:

camera_i_enable_imu: true

camera_i_enable_ir: false

camera_i_floodlight_brightness: 0.0

camera_i_ip: '192.168.1.221'

camera_i_laser_dot_brightness: 800.0

camera_i_mx_id: ''

camera_i_nn_type: ''

camera_i_pipeline_type: RGBD

camera_i_usb_port_id: ''

camera_i_usb_speed: SUPER_PLUS

nn_i_nn_config_path: ''

rgb_i_low_bandwidth: true

left_i_low_bandwidth: true

right_i_low_bandwidth: true

rgb_i_low_bandwidth_quality: 100

left_i_low_bandwidth_quality: 100

right_i_low_bandwidth_quality: 100

rgb_i_fps: 20

left_i_fps: 20

right_i_fps: 20

left_i_publish_left_rect: true

right_i_publish_right_rect: true

stereo_i_publish_synced_rect_pair: true

stereo_i_enable_distortion_correction: true

camera_i_resolution: 1080P

jakaskerl

Hi OlaElmaghraby
This doesn't look like the correct YAML structure.
Can you take a look at this and reiterate please: luxonis/depthai-rosblob/humble/depthai_ros_driver/config/rgbd.yaml

Thanks,
Jaka

OlaElmaghraby

jakaskerl I am using Ros1 noetic

jakaskerl

Hi @OlaElmaghraby
Could you run the ROS node with DEPTHAI_DEBUG=1 env variable and paste the debug logs here?

Thanks,
Jaka