on jetson xavier, drift happens with ros2 but not with ros

[omeredemen]

I have a jetson xavier which have jetpack 4.6.2 built on it. My sistem includes:

• ros2 galactic (from source)
• realsense (debian packages)
• realsense_ros (from source)
• openvins

I have a realsense d456 and i start the camera with following command ros2 run realsense2_camera realsense2_camera_node \ --ros-args -r __ns:=/d456 -r __node:=d456 -p unite_imu_method:=2 -p enable_infra1:=true -p enable_infra2:=true -p depth_module.infra_profile:=640x480x30 -p depth_module.depth_profile:=640x480x30 -p pointcloud.enable:=true -p enable_gyro:=true -p enable_accel:=true -p gyro_fps:=200 -p accel_fps:=200 -p depth_module.laser_power:=150.0 -p enable_color:=false

and i start ov_msckf with ros2 launch ov_msckf subscribe.launch.py config_path:=/home/xavier/rs_d456_stereo/estimator_config.yaml here is my estimator_config.yaml and the other kalibr file that i am using for configuration: rs_d456_stereo.zip

Odometry is very well at first but it always drifts after some time (5-10 min or less). Even if i don't make a move after initialization. But i am not facing this issue with ros1 (i tried with noetic and melodic). I also use openvins with ROS2 Humble on my pc without any problem.

I examined ROS1Visualizer.cpp and ROS2Visualizer.cpp but i didn't see logical difference between ros1 and ros2.

Is this issue has been faced by other users? I couldn't solve this.

[mo-aqeel]

Hi, did you face any problem while building the package in jetson?

[omeredemen]

well i could build without problem except i should have been increase my swap file because jetson needs extra memory to build openvins.