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.
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.
NoticeMost systems will create the USB device such that only
rootcan access it. You need to adjust permissions on the device so that other users can access it, unless you are running as root.
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
Metrics are publishes at 1Hz over the
They include information on the number of times the device
has reconnected, along with the number of data frames