Hi all,
I'm trying to run VIO with OAK-D pro.
I ran python3 imu_firmware_update.py and python3 imu_version.py from /depthai-python/example/IMU, and both works fine.
Here's the result:
IMU type: BNO086, firmware version: 3.9.9

IMU FW update status: 0.0%

IMU FW update status: 100.0%

Firmware update successful!

But when I try to run example like imuvideo_sync or imu_gyroscope_accelerometer.py from the IMU example folder, I always get following error message.

depthai-python/examples/IMU/imu_gyroscope_accelerometer.py", line 33, in <module>

with dai.Device(pipeline) as device:

     ^^^^^^^^^^^^^^^^^^^^

RuntimeError: Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE

====================================================================
Is there any way I can overcome this issue? please kindly give me some recommendation.

Sincerely,
Michael

Hi @erik

Yes, based on the spec, I should have BNO086 on my OAK-D Pro and OAK-D Pro W.

If there’s extra step I need to initialize my IMU, please kindly let me know.

I really appreciate your help on this issue.

sincerely,

Michael

@erik Thanks for your help!!! the lib dependency is not longer a issue now.
After adding imu.enableFirmwareUpdate(True) line into rtabmap_vio_slam.py and re-running it, I receive the following error message:
Does that means I need to calibrate the IMU and camera again? or is there any factor calibrated matrix I can use for SLAM?
python3 rtabmap_vio_slam.py

[1844301041693CF500] [3.6] [1.682] [IMU(2)] [warning] IMU 'enableFirmwareUpdate' is deprecated! Use 'device.startIMUFirmwareUpdate'

[1844301041693CF500] [3.6] [1.710] [IMU(2)] [warning] Performing IMU firmware update, do NOT disconnect the device.

[1844301041693CF500] [3.6] [1.832] [IMU(2)] [warning] IMU firmware update status: 0%

[2024-07-30 15:59:45.717] [ThreadedNode] [error] Node threw exception, stopping the node. Exception message: IMU calibration data is not available on device yet.

ShivamSharma

@erik I have the same issue today after I follow the CMake instruction with v3_develop branch.

Is there any instruction can guide us step by step setup this VIO/ Rtabmap SLAM pipeline?

Thanks.

Michael

Hi @erik , I have an OAK-D Pro and NVIDIA AGX Orin.
Can I run VIO with `dai.node.RTABMapVIO` in this setup? or does it only support RCV3?
and is there any documentation associated to VIO or VSLAM?
Thanks for you feedback in advance.

Michael