IMU data streams are not in the real time (delayed)

[Jenanaputra]

Hey. ......

I am using ROS2 Humble in Ubuntu 22.04. I installed the driver from ros binaries.

I tried to launch the camera.launch.py by setting it with this configurations :

/oak:
  ros__parameters:
    rgb:
    # # ISP scaling  #
    #   i_isp_den: 5
    #   i_isp_num: 3
    # low bandwidth  #     
      i_low_bandwidth: true
    left:
      i_low_bandwidth: true
    right:
      i_low_bandwidth: true
    stereo:
      # i_low_bandwidth: true
      i_subpixel: true
    imu:
      i_enable_rotation: true
      # i_sync_method: COPY

I am using OAK-D POE. Do you guys know how to improve the update rate of IMU ? Cause I have the delayed data

[Serafadam]

Hi, depending on pipeline load on the device and network settings the IMU data might be delayed, unfortunately right now there isn't a way to prioritize this queue, experimenting with IMU node parameters (i_max_batch_reports and i_batch_report_threshold) might help here