luxonis/rae-ros

IMU stopped working

sskorol opened this issue · 10 comments

sskorol commented

IMU data is not published anymore.

Steps:

  • run luxonis/rae-ros-robot:humble
  • run either robot.launch.py or bringup.launch.py w/o LED node
  • run ros2 topic echo /rae/imu/data

Expected: IMU data is published.
Actual: there's no data at all.

Note that when I used the previous docker images, at least angular velocity and linear acceleration were published. On the other hand, IMU plugin didn't reflect any changes in robot's pose in RViz.

danilo-pejovic commented

I will check if new changes broke anything for imu. Would you mind doing:
fw_printenv

and pasting the output so I can quickly check if everything seems right there.

sskorol commented

Sure, here's it:

root@rae:~# fw_printenv
altbootcmd=run mender_altbootcmd; run bootcmd
arch=arm
baudrate=115200
board=kmb-dm3370-r5m2e5
board_name=kmb-dm3370-r5m2e5
boot_failed_handle=if test ${is_secure} = 1; then run do_reset; fi;
boot_fit=bootm ${fit_addr} - ${fdt_addr}
boot_linux=booti ${kernel_addr} ${initrd_addr} ${fdt_addr}
bootargs=rootwait rw mender.data=/dev/mmcblk1p11 earlycon=uart8250,mmio32,0x20180000
bootcmd=run os_recovery_if_needed_cmd; run mender_setup; setenv bootargs root=${mender_rootfs_name} ${bootargs}; load ${mender_kernel_root} ${kernel_addr_r} ${mender_kernel_name}; ${mender_boot_kernel_type} ${kernel_addr_r} - ${fdt_addr}; run mender_try_to_recover; run boot_failed_handle
bootcount=1
bootdelay=2
bootlimit=1
cpu=armv8
do_reset=echo Secure system reset on boot cmd fail; reset;
env_version=1
fastboot.Bootstage=bl33
fastboot_flash_mmc_dev=1
fdt_addr=fff3bf80
fdt_high=f8200000
fit_addr=90000000
flash_env_version=1
initrd_addr=f8200000
initrd_high=0xffffffffffffffff
is_secure=0
kernel_addr=f0080000
kernel_addr_r=90000000
mender_altbootcmd=if test ${mender_boot_part} = 5; then setenv mender_boot_part 8; else setenv mender_boot_part 5; fi; setenv upgrade_available 0; saveenv; run mender_setup
mender_boot_kernel_type=bootm
mender_boot_part=8
mender_kernel_name=Image
mender_setup=setenv mender_rootfs_name /dev/${mender_storage_device_base}${mender_boot_part}; setexpr mender_kernel_part ${mender_boot_part} - 1;setenv mender_kernel_root ${mender_uboot_storage_if} "${mender_uboot_storage_dev}":${mender_kernel_part}; setenv expand_bootargs "setenv bootargs \\"${bootargs}\\""; run expand_bootargs; setenv expand_bootargs
mender_storage_device_base=mmcblk1p
mender_try_to_recover=if test ${upgrade_available} = 1; then reset; fi
mender_uboot_boot=${mender_uboot_storage_if} "${mender_uboot_storage_dev}":4
mender_uboot_storage_dev=1
mender_uboot_storage_if=mmc
os_recovery_if_needed_cmd= keembay_recovery_flag read_and_clear recovflag; if test $recovflag -eq 1; then run recoverycmd; elif test $recovflag -eq 2; then run recoveryeth; elif test $recovflag -eq 3; then mmc dev 1; mmc purge data; elif test $recovflag -eq 4; then fastboot 0 3000 ; fi; gpt verify mmc ${fastboot_flash_mmc_dev} $required_partitions;  if test $? -ne 0; then run recoverycmd; fi
partitions=name=capsule,start=1MB,size=32MB,type=8DA63339-0007-60C0-C436-083AC8230908;name=env-main,start=0x2100000,size=0x80000,type=8DA63339-0007-60C0-C436-083AC8230908;name=env-redund,start=0x2180000,size=0x80000,type=8DA63339-0007-60C0-C436-083AC8230908;name=boot_a,size=256MB,type=0FC63DAF-8483-4772-8E79-3D69D8477DE4;name=system_a,size=3GB,type=B921B045-1DF0-41C3-AF44-4C6F280D3FAE;name=syshash_a,size=128MB,type=8DA63339-0007-60C0-C436-083AC8230908;name=boot_b,size=256MB,type=0FC63DAF-8483-4772-8E79-3D69D8477DE4;name=system_b,size=3GB,type=B921B045-1DF0-41C3-AF44-4C6F280D3FAE;name=syshash_b,size=128MB,type=8DA63339-0007-60C0-C436-083AC8230908;name=factory,size=64MB,type=0FC63DAF-8483-4772-8E79-3D69D8477DE4;name=data,size=-,type=0FC63DAF-8483-4772-8E79-3D69D8477DE4
recoverycmd=fastboot 0
recoveryeth=load mmc 1:a ${kernel_addr_r} /Recovery; bootm ${kernel_addr_r} - ${fdt_addr}
required_partitions=name=capsule,start=1MB,size=32MB,type=8DA63339-0007-60C0-C436-083AC8230908;name=env-main,start=0x2100000,size=0x80000,type=8DA63339-0007-60C0-C436-083AC8230908;name=env-redund,start=0x2180000,size=0x80000,type=8DA63339-0007-60C0-C436-083AC8230908;name=boot_a,size=256MB,type=0FC63DAF-8483-4772-8E79-3D69D8477DE4;name=system_a,size=3GB,type=B921B045-1DF0-41C3-AF44-4C6F280D3FAE;name=syshash_a,size=128MB,type=8DA63339-0007-60C0-C436-083AC8230908;name=boot_b,size=256MB,type=0FC63DAF-8483-4772-8E79-3D69D8477DE4;name=system_b,size=3GB,type=B921B045-1DF0-41C3-AF44-4C6F280D3FAE;name=syshash_b,size=128MB,type=8DA63339-0007-60C0-C436-083AC8230908;
serial#=4B928816838860C6
soc=kmb
vendor=intel
reset_flag=false
upgrade_available=0
sskorol commented

That's the host OS output. If you meant container, then fw_printenv is not available there. I installed u-boot-tools, but the output was Configuration file wrong or corrupted.

sskorol commented

In logs, I see the following:

root@rae:/# ros2 launch rae_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-10-20-15-25-08-457421-rae-151
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [165]
[INFO] [robot_state_publisher-2]: process started with pid [167]
[INFO] [ekf_node-3]: process started with pid [169]
[INFO] [ros2_control_node-4]: process started with pid [171]
[INFO] [spawner-5]: process started with pid [173]
[INFO] [spawner-6]: process started with pid [176]
[INFO] [mic_node-7]: process started with pid [186]
[INFO] [speakers_node-8]: process started with pid [194]
[INFO] [battery_status.py-9]: process started with pid [198]
[component_container-1] [INFO] [1697815513.772313640] [rae_container]: Load Library: /underlay_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[robot_state_publisher-2] [INFO] [1697815513.929769623] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1697815513.930241043] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1697815513.930307210] [robot_state_publisher]: got segment base_link_back
[robot_state_publisher-2] [INFO] [1697815513.930346877] [robot_state_publisher]: got segment chassis
[robot_state_publisher-2] [INFO] [1697815513.930383835] [robot_state_publisher]: got segment left_caster_wheel
[robot_state_publisher-2] [INFO] [1697815513.930422419] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-2] [INFO] [1697815513.930459502] [robot_state_publisher]: got segment rae_imu_frame
[robot_state_publisher-2] [INFO] [1697815513.930496461] [robot_state_publisher]: got segment rae_left_back_camera_frame
[robot_state_publisher-2] [INFO] [1697815513.930533336] [robot_state_publisher]: got segment rae_left_back_camera_optical_frame
[robot_state_publisher-2] [INFO] [1697815513.930570753] [robot_state_publisher]: got segment rae_left_camera_frame
[robot_state_publisher-2] [INFO] [1697815513.930607587] [robot_state_publisher]: got segment rae_left_camera_optical_frame
[robot_state_publisher-2] [INFO] [1697815513.930643587] [robot_state_publisher]: got segment rae_rgb_camera_frame
[robot_state_publisher-2] [INFO] [1697815513.930810755] [robot_state_publisher]: got segment rae_rgb_camera_optical_frame
[robot_state_publisher-2] [INFO] [1697815513.930857422] [robot_state_publisher]: got segment rae_right_back_camera_frame
[robot_state_publisher-2] [INFO] [1697815513.930894922] [robot_state_publisher]: got segment rae_right_back_camera_optical_frame
[robot_state_publisher-2] [INFO] [1697815513.930931672] [robot_state_publisher]: got segment rae_right_camera_frame
[robot_state_publisher-2] [INFO] [1697815513.930967631] [robot_state_publisher]: got segment rae_right_camera_optical_frame
[robot_state_publisher-2] [INFO] [1697815513.931004089] [robot_state_publisher]: got segment right_caster_wheel
[robot_state_publisher-2] [INFO] [1697815513.931039631] [robot_state_publisher]: got segment right_wheel
[ros2_control_node-4] [INFO] [1697815514.488454485] [resource_manager]: Loading hardware 'RAE' 
[ekf_node-3] X acceleration is being measured from IMU; X velocity control input is disabled
[ekf_node-3] use_control is set to true, but control_config has only false values. No control term will be used.
[component_container-1] [INFO] [1697815515.157864829] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697815515.169175483] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697815515.323235403] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2023-10-20 15:25:15.328] [depthai] [warning] USB protocol not available - If running in a container, make sure that the following is set: "-v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw'"
[mic_node-7] [INFO] [1697815515.674177385] [mic_node]: Mic node running!
[ros2_control_node-4] [INFO] [1697815515.728219514] [resource_manager]: Initialize hardware 'RAE' 
[ros2_control_node-4] [INFO] [1697815515.739013873] [resource_manager]: Successful initialization of hardware 'RAE'
[ros2_control_node-4] [INFO] [1697815515.749970484] [resource_manager]: 'configure' hardware 'RAE' 
[speakers_node-8] [INFO] [1697815515.753898466] [speakers_node]: Speakers node running!
[ros2_control_node-4] [INFO] [1697815515.769648065] [resource_manager]: Successful 'configure' of hardware 'RAE'
[ros2_control_node-4] [INFO] [1697815515.771579577] [resource_manager]: 'activate' hardware 'RAE' 
[ros2_control_node-4] [INFO] [1697815515.771892745] [resource_manager]: Successful 'activate' of hardware 'RAE'
[ros2_control_node-4] [INFO] [1697815516.049275185] [controller_manager]: update rate is 100 Hz
[ros2_control_node-4] [INFO] [1697815516.076784023] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-4] [INFO] [1697815519.187851486] [controller_manager]: Loading controller 'diff_controller'
[spawner-5] [INFO] [1697815519.621280276] [spawner_diff_controller]: Loaded diff_controller
[ros2_control_node-4] [INFO] [1697815519.636291536] [controller_manager]: Configuring controller 'diff_controller'
[spawner-5] [INFO] [1697815519.712679513] [spawner_diff_controller]: Configured and activated diff_controller
[INFO] [spawner-5]: process has finished cleanly [pid 173]
[ros2_control_node-4] [INFO] [1697815520.786186216] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1697815520.962452733] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-4] [INFO] [1697815520.979262088] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-4] [INFO] [1697815520.979662132] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1697815521.059698007] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[component_container-1] [INFO] [1697815521.103441030] [rae]: Camera with MXID: xlinkserver and Name: 127.0.0.1 connected!
[component_container-1] [INFO] [1697815521.103722949] [rae]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-1] [INFO] [1697815521.147779474] [rae]: Device type: RAE
[component_container-1] [INFO] [1697815521.460718761] [rae]: Pipeline type: rae
[INFO] [spawner-6]: process has finished cleanly [pid 176]
[component_container-1] [INFO] [1697815522.797919695] [rae]: Finished setting up pipeline.
[component_container-1] [INFO] [1697815523.669565347] [rae]: Camera ready!
[component_container-1] [INFO] [1697815523.673578955] [rae_container]: Load Library: /ws/install/rae_hw/lib/librae_hw.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rae' in container '/rae_container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/battery_node' in container 'rae_container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lcd_node' in container 'rae_container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/led_node' in container 'rae_container'
[component_container-1] [INFO] [1697815523.751305399] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697815523.751490817] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697815523.908354755] [battery_node]: Battery node running!
[component_container-1] [INFO] [1697815523.937289769] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697815523.937471853] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697815523.937511770] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697815524.155182422] [lcd_node]: LCD node running!
[component_container-1] [INFO] [1697815524.187070287] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::BatteryNode>
[component_container-1] [INFO] [1697815524.187250122] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LCDNode>
[component_container-1] [INFO] [1697815524.187290539] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [INFO] [1697815524.187519998] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rae_hw::LEDNode>
[component_container-1] [ERROR] [1697815524.284801148] [led_node]: can't set spi mode
[component_container-1] [INFO] [1697815524.300179619] [led_node]: LED node running!
[component_container-1] [INFO] [1697815524.409091507] [battery_node]: Power supply status changed to [Charging] after 0 h 0 min 0 secs.
[component_container-1] [INFO] [1697815524.621612418] [rae_container]: Load Library: /underlay_ws/install/laserscan_kinect/lib/liblaserscan_kinect.so
[component_container-1] [INFO] [1697815524.636688471] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [INFO] [1697815524.637163432] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[INFO] [async_slam_toolbox_node-10]: process started with pid [295]
[component_container-1] [ERROR] [1697815524.951408520] [laserscan_kinect_front]: Invalid parameter: debug_image.format
[component_container-1] [ERROR] [1697815524.986976867] [laserscan_kinect_front]: Failed to load plugin image_transport/compressed_pub, error string: parameter 'debug_image.format' could not be set: Invalid parameter
[component_container-1] 
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laserscan_kinect_front' in container 'rae_container'
[component_container-1] [INFO] [1697815525.030460888] [laserscan_kinect_front]: Node laserscan_kinect initialized.
[component_container-1] [INFO] [1697815525.030646098] [laserscan_kinect_front]: Node 2 initialized.
[component_container-1] [INFO] [1697815525.084808811] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[component_container-1] [INFO] [1697815525.085006687] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<laserscan_kinect::LaserScanKinectNode>
[async_slam_toolbox_node-10] [INFO] [1697815525.353525906] [slam_toolbox]: Node using stack size 40000000
[component_container-1] [ERROR] [1697815525.734552203] [laserscan_kinect_back]: Invalid parameter: debug_image.format
[component_container-1] [ERROR] [1697815525.745503730] [laserscan_kinect_back]: Failed to load plugin image_transport/compressed_pub, error string: parameter 'debug_image.format' could not be set: Invalid parameter
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laserscan_kinect_back' in container 'rae_container'
[component_container-1] 
[component_container-1] [INFO] [1697815525.767462575] [laserscan_kinect_back]: Node laserscan_kinect initialized.
[component_container-1] [INFO] [1697815525.767657035] [laserscan_kinect_back]: Node 2 initialized.
[component_container-1] [INFO] [1697815526.180287362] [rae_container]: Load Library: /underlay_ws/install/ira_laser_tools/lib/libira_laser_tools.so
[component_container-1] [INFO] [1697815526.205421353] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<ira_laser_tools::LaserscanMerger>
[component_container-1] [INFO] [1697815526.205627146] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ira_laser_tools::LaserscanMerger>
[component_container-1] [INFO] [1697815526.689110416] [laser_scan_multi_merger]: Waiting for topics ...
[component_container-1] [INFO] [1697815527.691000300] [laser_scan_multi_merger]: Subscribing to topics	2
[component_container-1] [INFO] [1697815527.855852330] [battery_node]: Power supply status changed to [Discharging] after 0 h 0 min 3 secs.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laser_scan_multi_merger' in container 'rae_container'
[async_slam_toolbox_node-10] [INFO] [1697815528.022255661] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-10] [INFO] [1697815528.313843233] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[async_slam_toolbox_node-10] [INFO] [1697815528.683903628] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.008 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815528.696642374] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.041 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815528.709582247] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.141 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815528.726650187] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.275 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815528.728941409] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.384 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815528.782980205] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.484 for reason 'discarding message because the queue is full'
[INFO] [launch.user]: Resetting PWM.
[async_slam_toolbox_node-10] [INFO] [1697815528.831158381] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.517 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815528.871973636] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.550 for reason 'discarding message because the queue is full'
[INFO] [busybox devmem 0x20320180 32 0x00000000-11]: process started with pid [317]
[INFO] [busybox devmem 0x20320180 32 0x00000000-11]: process has finished cleanly [pid 317]
[async_slam_toolbox_node-10] [INFO] [1697815528.931476758] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.617 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] [INFO] [1697815529.001053193] [slam_toolbox]: Message Filter dropping message: frame 'base_link' at time 1697815527.675 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-10] Registering sensor: [Custom Described Lidar]

Only EKF prints something related to IMU:

[ekf_node-3] X acceleration is being measured from IMU; X velocity control input is disabled
[ekf_node-3] use_control is set to true, but control_config has only false values. No control term will be used.
sskorol commented

Topics:

/audio_in
/audio_out
/battery_status
/cmd_vel
/debug_image/compressedDepth
/debug_image/theora
/diagnostics
/diff_controller/odom
/diff_controller/transition_event
/dynamic_joint_states
/joint_state_broadcaster/transition_event
/joint_states
/lcd
/leds
/map
/map_metadata
/merged_cloud
/odometry/filtered
/parameter_events
/pose
/rae/debug_image_back
/rae/debug_image_front
/rae/imu/data
/rae/left_back/camera_info
/rae/left_back/image_raw
/rae/left_back/image_raw/compressed
/rae/left_back/image_raw/compressedDepth
/rae/left_back/image_raw/theora
/rae/right/camera_info
/rae/right/image_raw
/rae/right/image_raw/compressed
/rae/right/image_raw/compressedDepth
/rae/right/image_raw/theora
/rae/scan_back
/rae/scan_front
/rae/stereo_back/camera_info
/rae/stereo_back/image_raw
/rae/stereo_back/image_raw/compressed
/rae/stereo_back/image_raw/compressedDepth
/rae/stereo_back/image_raw/theora
/rae/stereo_front/camera_info
/rae/stereo_front/image_raw
/rae/stereo_front/image_raw/compressed
/rae/stereo_front/image_raw/compressedDepth
/rae/stereo_front/image_raw/theora
/robot_description
/rosout
/scan
/set_pose
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/tf
/tf_static
sskorol commented

Here's the video from RViz. Note that a robot randomly moves left-right (virtually). But there was no physical interaction made or teleop ran. Then I moved it manually a little bit, but IMU marker obviously left in the same place, as there's no data received.

rae_imu.mp4

Could it be the result of the merging of the recent updates? As I believe that several days ago I haven't seen such behavior.

danilo-pejovic commented

Yea that is output for printenv I needed - everything seems ok there.

We are working on IMU related things right now but no changes recently pushed to humble should break the behavior.

Lets try one more thing. Can you add

imu:
      i_batch_report_threshold: 5
      i_max_batch_reports: 5
      i_enable_rotation: true
      i_message_type: IMU_WITH_MAG_SPLIT
      i_sync_method: COPY
      i_gyro_freq: 100
      i_acc_freq: 100
      i_rot_freq: 100

To your camera config at /ws/src/rae-ros/rae_camera/config/camera.yaml inside the container (you dont need to rebuild the package) as another sub category under ros_parameters. That should fix the issue.

sskorol commented

Yeah, now I see the data published. But, RViz doesn't reflect IMU changes due to:

[INFO] [1697836266.854962595] [rviz]: Message Filter dropping message: frame 'rae_imu_frame' at time 1697746072.441 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

Seems like it drops all the messages.

Screenshot from 2023-10-21 00-11-01

sskorol commented

Note that I tried Cyclone DDS as well, but no luck.

sskorol commented

Also note that if I change the fixed frame in RViz to base_link, the IMU message drop errors disappear. However, the IMU marker is displayed flipped (z at the bottom). And of course it affects the map rendering.
Anyway, I guess the sync issue happens somewhere on slam-toolbox level.