IMU frequency unstable

[YuxuanSnow]

Preliminary Checks

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• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Hi,

i have a zed mini camera, whose imu frequency should be 800 Hz according to the data sheet: https://www.generationrobots.com/media/zed-mini-camera-datasheet.pdf. However, when i use rostopic hz to monitor the frequency of the imu topic, it varies from 500 to 580, not stable. Is it normal?

Somebody asked a question regarding how to modify the updating rate, but it is still open: https://github.com/stereolabs/zed-ros-wrapper/issues/770

Thanks.

Steps to Reproduce

1. roslaunch zed_wrapper zedm.launch

Expected Result

1. imu rate to 800 Hz

Actual Result

1. IMU rate only 560 Hz, and really unstable

ZED Camera model

ZED Mini

Environment

OS: Ubuntu 20.04
CUDA: 11.3
GPU: 2080 Ti

Anything else?

No response

[Myzhar]

Added a parameter to set the sensors' publishing frequency. You can update to the latest master to test it

[yani-rl-ai]

hi i also face the same problem. when i open the raw image in rviz, the camera like shaking

[github-actions[bot]]

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