[BUG] {Unable to get IMU data rate > 100 Hz when rotation is enabled}

[ehong-tl]

[BUG] {Unable to get IMU data rate > 100 Hz when rotation is enabled}

[ehong-tl]

Hi @ehong-tl, could you test this branch and see if that improves the readings?

Hi @Serafadam

I'm able to get more than 100 Hz with this branch, thanks for the fix.

[danilo-pejovic]

Hey thanks for reporting the issue, does this issue appear on any other device or only on jetpack?

[ehong-tl]

Hey @danilo-pejovic

I've only tried it on Nvidia Jetson Orin Nano with ROS2 running in jetson docker container.

With this camera config, I am able to get IMU data rate of ~200 Hz in COPY mode and ~185 Hz in LINEAR_INTERPOLATE_ACCEL mode when rotation is disabled.
I'm unable to get IMU data rate of more than 100 Hz when rotation is enabled regardless of the settings.

Haven't try it on PC yet, I shall find one day to try it.

[ehong-tl]

Hey @danilo-pejovic

I've tested on my laptop running on Ubuntu 22.04 ROS2 Humble and got the same result, IMU rate will not get over 100 Hz when rotation is enabled.

[Serafadam]

Hi @ehong-tl, could you test this branch and see if that improves the readings?