IMU-Depth sync for VIO

shivamtrip

I have an Oak-D Lite and followed this script to sync my IMU, rgb and depth images for VIO applications. I believe this brings the FPS of all messages (including IMU messages) down to 30 FPS (or the same FPS as the images).

How do I keep the IMU publishing at 200 Hz while also synchronizing with images when possible?

jakaskerl

shivamtrip
Use tryGet instead of get() which is blocking.

Thanks,
Jaka