D435I Orientation message

[kiwi-sherbet]

I want to use D435I's 9-DOF IMU data, but it does not seem to publish orientation values properly.

I assumed that I need to calibrate the IMU to get orientation data, but when I tied to use librealsense/tools/rs-imu-calibration, it fails to write calibration data to the EEPROM. It says,

RuntimeError: failed to set power state

Do I need to calibrate the IMU to get data? If this is caused by issues other than calibration, how can I fix it? The following are ROS messages what I am getting.

Thank you!

header: 
  seq: 4650
  stamp: 
    secs: 3226342211
    nsecs: 881966591
  frame_id: "camera_imu_optical_frame"
orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: -0.003490658476948738
  y: 0.0
  z: -0.001745329238474369
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration: 
  x: -0.6561354215697935
  y: -9.24352356840411
  z: 0.9595328294956944
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
---

[MartyG-RealSense]

Hi @kiwi-sherbet After you got the IMU topic publishing working in https://github.com/IntelRealSense/realsense-ros/issues/1691 do you still require assistance with this case about IMU calibration, please?

[kiwi-sherbet]

Hi @MartyG-RealSense Yeah, I cannot get orientation information from ROS topics.

[MartyG-RealSense]

RealSense ROS users seeking to learn how to access IMU data from a D435i often begin with Intel's D435i SLAM tutorial in the link below.

https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i

[kiwi-sherbet]

Oh, I got it. I need to use additional packages, such as imu_filter_madgwick, to get orientation data. Thank you!

[MartyG-RealSense]

Thanks very much @kiwi-sherbet for the update!