Realsense D455 IMU Problems #13591
Comments
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Facing the same issue here. Is there any update or potential solution available? @MartyG-RealSense |
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Hi @SnoopyGeeek Does the Motion Module in realsense-viewer work if you boot up the computer from shutdown using the power button and then launch realsense-viewer and only enable Motion Module on its own? The realsense-viewer has a known issue where for some RealSense users, if Depth, RGB and Motion Module are all enabled simultaneously then a stream failure occurs. There is no fix for this except to only enable Motion Module on its own, or just two streams instead of three (such as Depth + Motion Module, or RGB + Motion Module). In the RealSense ROS wrapper, (which does not have the three-stream IMU issue in realsense-viewer) the IMU topics are disabled by default and will not be published. You can enable them in the launch instruction by adding to it enable_accel:=true enable_gyro:=true unite_imu_method:=2
This enables the accel and gyro streams and publishes them in a single combined |
No, single Motion Module does not work for me in my situation. It shows reccieved no frames .Here is my result: |
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Do the IMU streams continue to be unavailable if you reset the camera? This can be done in the Viewer by going to the 'Reset Hardware' option under the drop-down menu of the 'More' option near the top of the options side-panel. In ROS it can be done by adding initial_reset:=true to the launch instruction. |
Yes, I tried reset the camera, the problem still remain the same. |
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I note that your images have librealsense versions 2.55.1 and 2.56.3. If these pictures are taken on the same computer then this would indicate that there is more than one librealsense version installed on the computer. There should only be one librealsense version installed, as multiple librealsense installations on the same computer could result in conflicts. There is also a ROS log with librealsense 2.51.1 and ROS wrapper 4.0.4. Again, there should only be one librealsense version on the computer. The ROS wrapper version that should also be used with 2.51.1 is 4.51.1. The 4.0.4 version of the wrapper is nearly three years old and should not be used with modern librealsense versions. |
Sorry, the image and log file in the initial issue publishment were copied from other place with the same problem, because I did not have the results to publish at hand. Except that, the other images and results are directly from my agx screenshots. As you see, I have librealsense V2.55.1 and realsense ROS wrapper V4.55.1 installed. |
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Having eliminated other possible causes, it may be that you are having problems with your IMU because you are using JetPack 6. RealSense cameras equipped with an IMU on a Jetson using JP6 can have problems ranging from no IMU data to the camera not being detected at all. This is because JP6 removed an instruction called 'hidraw' that RealSense IMU-equipped models (known as HID devices) relied upon. Sometimes using the libuvc_installation.md instructions like you did resolves the problem, but not on every occasion. Some have found that whilst using the libuvc_installation.sh build script did not resolve their IMU issue, building from source code with the similar RSUSB backend method did - please see #9931 (comment) for a guide to this method. The other way of adding IMU support on a Jetson using JP6 on a USB cable connection is to perform a complicated installation procedure for the MIPI driver at the link below. https://github.com/IntelRealSense/realsense_mipi_platform_driver Using JetPack 5.1.3 instead of 6.1 should also enable to the IMU to work, though I understand that JP6 is needed for Ubuntu 22.04, so using 5.1.3 would likely require downgrading to Ubuntu 20.04. |
Perhaps the reason is that JP6 is too new to be supported by librealsense? Bro, do you know when will it be fully supported, like I can get pre-compiled deb file by using apt install command. Do you put it on schedule? |
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JetPack 6 is supported officially by librealsense from beta 2.56.1 onwards. This does not resolve the IMU related issues with JP6 though, because it is related to JP6 removing its 'hiddraw' function and not a fault in librealsense. So performing a libuvc backend source code installation of librealsense or installing the MIPI driver is still required to provide IMU support when using JP6. A major release of librealsense (one which has packages) is planned for 'end of year'. |
Ok, does it mean that we can only expect nvidia to fix the jetpack6-realsense imu compatibility issue, is that right? |
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I would assume not. At the moment, the suggested workarounds are the only fixes available for JetPack 6 users with an IMU-equipped RealSense camera. |
Issue Description
I upgraded my agx with SDKManager from Jetpack 5.0 to Jetpack 6.1. I followed the instruction of build librealsense from the source using libuvc following the link: https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md.
Everything looks fine when I opened realsense-viewer. It can show up the streams of stereo module and rgb module. However the realsense-viewer collapse when I turned motion module on. It seems like IMU module has some problems.
At the same time, I installed ros2 wrapper and tried
ros2 launch realsense2_camera rs_launch.pyand I met the same problem as #issue10902:#10902. Here is the error:The text was updated successfully, but these errors were encountered: