Open micah-cobot opened 1 month ago
Hi @micah-cobot I will consult my Intel RealSense colleagues about your question. Thanks very much for your patience.
Hi @micah-cobot , This will require investigation on our side. We do not support JP5.1.1 but we will try it with JP5.0.2 / JP5.1.2 Hopefully soon we can update, might take some time as we are about to release a new beta version.
Issue Description
I observe periodic large timestamp jumps between consecutive IMU messages coming from a D457 connected via GMSL. The issue does not happen when the exact same camera is instead connected via USB.
I initially saw this issue when subscribing to IMU messages coming from the realsense ROS2 wrapper. I configured the device to output accel and gyro measurements at 200Hz. The following are the
realsense2_camera
node params:This is a plot of consecutive time stamp differences when connected via GMSL (timestamps coming from the IMU message ROS header):
And this is a plot of consecutive time stamp differences when connected via USB (timestamps coming from the IMU message ROS header):
As we can see
To check that this was not a ROS2 issue, I printed the consecutive message timestamp difference before data is published to ROS2 by looking at the data before the
Publish
call here:https://github.com/IntelRealSense/realsense-ros/blob/ros2-master/realsense2_camera/src/base_realsense_node.cpp#L456
And I still saw that there were sometimes ~100ms time difference between consecutive messages.
Also, when I set
enable_sync: False
in the above params, I get one of these two error messages:@MartyG-RealSense would you or @Nir-Az be able to advise on fixing this issue? Has it been observed before? This D457 has the factory fw version, and I cannot update it to the newest version while using IMU due to a different firmware updating issue which I posted about.
Hardware Info
I have the camera connected via GMSL to an Anvil Embeded System: https://connecttech.com/product/anvil-embedded-system-with-nvidia-jetson-agx-orin/ running Jetpack 5.1.1; this computer has a board for GMSL, and the D457 is supported as per this table from ConnectTech: https://connecttech.com/supported-cameras/:
The output of
cat /etc/nv_tegra_release
is :I installed librealsense via Debian package as per this tutorial: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md. The output of
dpkg -l | grep librealsense
is: