RealSense IMU Stage

This stage connects to a RealSense IMU (for example, on the D455 device), and streams IMU updates to the rest of the system.

Configuration

There is no configuration for this stage at the moment. It is hard-coded to listen to a USB device with a vendor ID of 0x8086 and a produce ID ox 0x0b5c.

Notice

Most systems will create the USB device such that only root can access it. You need to adjust permissions on the device so that other users can access it, unless you are running as root.

Interactine

The IMU data comes in at 500Hz. It will be decoded into a RawImuData structure, containing a capture time, and the raw gyro and accelerometer values. These are not transformed in any way.

This is published over the raw_imu_data channel.

Metrics

Metrics are publishes at 1Hz over the statistics channel. They include information on the number of times the device has reconnected, along with the number of data frames received.