Zed X Position tracking does not move when imu_fusion is True

[hocherie]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Thank you for the amazing sensor!

I am trying to get position tracking to work, however am having an issue when imu_fusion is True. Where the odometry does not move.

When imu_fusion is False, the odometry does move but is a bit noisy.

My set up is:

• Zed X connected to an Orin (running ROS2)
• Orin streaming to my ROS1 laptop through ethernet

Depth works well when streamed to my laptop. When running on my Orin's ROS2, I am able to get pose with imu_fusion as True. But just not on my ROS1 laptop. When viewing from ./ZED_depth_viewer on the ROS 1 receiver laptop, IMU seems to be functioning properly.

Steps to Reproduce

1.Replicate setup (Zed X connected to an Orin (running ROS2), Orin streaming to my ROS1 laptop through ethernet, SDK is 4.1.3)

2. Stream camera topic (Orin): python3 streaming_sender.py
3. (On receiving ROS 1 laptop) roslaunch zed_wrapper zedx.launch ...

Expected Result

When the camera moves, we should see in rviz the odometry moving.

Actual Result

We will see the odometry not moving even when camera is moving

ZED Camera model

ZED

Environment

OS: Linux

Anything else?

No response

[Myzhar]

@hocherie this is not a bug of the ZED ROS Wrapper. Please contact our support team for more information.