Is it possible to change the IMU frequencies on the T265
I was wondering if there is any means of changing the frequency at which the IMU gyroscope and accelerometer sample. Specifically I would like the accelerometer, to sample at 200hz so it is synchronized with the gyroscope. Is this possible via either the SDK or ROS wrapper or other any other means? If it is not possible to increase the accelrometer sample frequency, what is the restricting factor (for example, is it defined by the firmware)? It seems that this IMU is capable of sampling at higher frequencies according to: https://www.bosch-sensortec.com/bst/products/all_products/bmi055 (under technical data).
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I hope that the link below will be helpful to you.
https://github.com/IntelRealSense/librealsense/issues/4592
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Thank you for the quick reply Marty.
I have seen that issue on github, but I wasn't certian that it pertained to the Accel and Gyro, since it is talking about pose which I take to be a layer of abstraction beyond simply the accel and gyro readings (we have our own SLAM module which we want to use with these readings).
So it is completely out of the question that I could create a new stream profile for the T265 which has a higher sample frequency for the accelerometer?
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Any answer I can give on this subject risks being a bad one, as T265 is not one of my specialist areas (the RealSense GitHub is a better place for expert T265 advice). However, other T265 users have certainly investigated the same possibility about customizing the rate and seeing if there is a workaround.
The link provided above represents the most recent official advice from Intel on this subject, as far as I know. A bit more recently in September 2019, One user's workaround that worked for them was to develop a RealSense ROS node in C++ that is controlled by a rate (they tried creating a node in Python but found it ineffective).
The link below provides an explanation about 'Rates' in ROS.
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