depthai-ros stereo_inertial_node.launch throws IMU invalid settings error:

RobotRoss

Oak-D Lite KickStarter version (0.0.0) on RaspberryPi Ubuntu 22.04/ROS 2 Humble with depthai-ros installed with 3 successful launch: mobile_publisher, rgb_stereo_node, stereo.launch display image on rqt.

This launch starts up ok configuring camera resolutions, then

[stereo_inertial_node-2] what(): IMU(5) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 347
[ERROR] [stereo_inertial_node-2]: process has died [pid 5770, exit code -6, cmd '/opt/ros/humble/lib/depthai_examples/stereo_inertial_node --ros-args --params-file /tmp

Other posts refer to trying to reset and update firmware don't work, including a try with: https://discuss.luxonis.com/d/3422-depthai-ros-pointcloud-with-no-imu-oak-d-lite configuring a no_imu.yaml

If necessary, specifically how do I upgrade s/w or what param to set?

jakaskerl

Hi @RobotRoss
Might be that the device doesn't have an IMU. To know for sure, you can open the device and check the PCB.

You might need to update the FW on IMU. For that, we have examples: luxonis/depthai-pythonblob/main/examples/IMU/imu_firmware_update.py.

Thanks,
Jaka

RobotRoss

Some progress in that I confirmed my Oak-D has no IMU and I can use a ROS command line parameter to force a camera.i_enable_imu: false i.e. no_imu state

ubuntu@rp4-ub22h-mt:~/depthai-python/examples/IMU$ python3 imu_version.py

IMU type: NONE, firmware version: 0.0.0

ubuntu@rp4-ub22h-mt:~/depthai-python/examples/IMU$ python3 imu_firmware_update.py

IMU type: NONE, firmware version: 0.0.0, embedded firmware version: 0.0.0

Warning! Flashing IMU firmware can potentially soft brick your device and should be done with caution.

Do not unplug your device while the IMU firmware is flashing.

Type 'y' and press enter to proceed, otherwise exits:

IMU FW update status: 0.0%

Firmware update failed!

However, I with the Luxonis Developer Alexander advice , I was successfully in running :

ros2 launch depthai_ros_driver camera.launch.py model:=OAK-D-LITE paramsfile:=/home/ubuntu/Desktop/no_imu.yaml which publishes a bunch of image topics

no_imu.yaml is

/oak:
ros__parameters:
camera:
i_enable_imu: false
i_enable_ir: false

Though the ros2 launch depthai_examples stereo_inertial_node.launch.py camera_model:=OAK-D-LITE enableRviz:=False params_file:=/home/ubuntu/Desktop/no_imu.yaml

still throws an error even using the no_imn.yaml file ;(

So I added to my Issue #495 for "Alexander" to answer.

jakaskerl

Hi @RobotRoss
Can't use stereo inertial node without IMU since that IMU is literally in the node name.

RobotRoss Firmware update failed!

Try forcing the update by running startIMUFirmwareUpdate(1) # this forces it. luxonis/depthai-pythonblob/main/examples/IMU/imu_firmware_update.py#L25

Thanks
Jaka

jakaskerl

Hi RobotRoss
Best to write to support@luxonis.com, perhaps they can sort you out with a replacement unit.

Thanks,
Jaka

RobotRoss

Tnx a lot- I should have realized the significance of "Inertial" which sure was an obvious issue that I completely overlooked. No indication on the Luxonis documentation of this condition. I have an original Kickstarter version that has no IMU, which the IMU utility correctly indicated was not installed. I also checked the stereoinertialpublisher.cpp code and there appears that the code expects an IMU in the camera and there is no smooth check otherwise other than crashing 🙁 Ross