D456 IMU corruption?
Hello,
I am running the 5.15.1 firmware on my D456 with the Librealsense SDK version of 2.54.2 and the ROS-Realsense wrapper version of 4.54.2. My IMU topics are not being published to ROS and I know there has been a lot of issues with the Realsense SDK IMU from the release notes. In the Realsense launch file, I enabled gyro and accel as well as IMU fusion but my IMU is still not working. Is this expected as I know there are known to be many issues with the IMU?
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Hi Hassanshafi Which computer / computing board are you using, please (Raspberry Pi, Nvidia Jetson, desktop / laptop PC, etc).
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Hi MartyG, I am using the NVIDIA Jetson Orin AGX with Isaac ROS
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Are you using JetPack 6, please? If you are then it is necessary to build the MIPI driver at the link below in order to add support for 'HID' devices (cameras equipped with an IMU).
https://github.com/IntelRealSense/realsense_mipi_platform_driver
Downgrading to JetPack 5.1 can enable the IMU to work without having to install this driver.
If you cannot downgrade your JetPack then another solution is to build the librealsense from source code using the libuvc backend build script at the link below.
https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md
This approach worked for a JetPack 6 user with an AGX Orin in the discussion below.
https://support.intelrealsense.com/hc/en-us/community/posts/31576776977427/comments/31683171974419
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