librealsense: cannot stream depth, colour, gyro and accel all at once using the python3 wrapper

| Camera Model | D400 | | Firmware Version | 05.12.03.00 | | Operating System & Version | 18.04 | | Kernel Version (Linux Only) | 4.9.140-tegra | | Platform | jeston nano jetpack 4.3. | | SDK Version | 2.33.1 |
| Language | python | | Segment | Robot |

I am trying to gather the depth, colour, acc and gyro data from the d435i. but it’s throwing a timeout error. I have read through the posts and cannot seem to find a solid answer on how it should be accomplished. any help would be greatly appreciated.

Here is my code, it’s not actually trying to read the gyro data yet just setup the camera streams to run with each other but no luck.

from threading import Thread
import pyrealsense2 as rs
import numpy as np
import cv2, sys, time

class VideoStream:
    def __init__(self, resolution=(640, 480), framerate=15):
        self.FOV = 100.4 

        # point conversion
        self.num_sectors = 21 # number of sections
        self.pixel_group = resolution[0] / self.num_sectors
        self.distance_array = [0]*self.num_sectors

        self.color_image = np.zeros((resolution[0], resolution[1]))
        self.depth_image = self.color_image
        self.camera_stopped = False
        self.resolution = resolution
        self.framerate = framerate
        self.pipeline = rs.pipeline()
        self.config = rs.config()
        self.config.enable_stream(rs.stream.depth, resolution[0], resolution[1], rs.format.z16, framerate)
        self.config.enable_stream(rs.stream.color, resolution[0], resolution[1], rs.format.bgr8, framerate)
        self.config.enable_stream(rs.stream.gyro)        

    def start_camera(self):
        # start the thread to read frames from the video stream
        
        self.pipeline.start(self.config)
        Thread(target=self.update).start()

    def update(self):
        try:
            while True:
                # Wait for a coherent pair of frames: depth and color
                frames = self.pipeline.wait_for_frames()
                depth_frame = frames.get_depth_frame()
                color_frame = frames.get_color_frame()
                if not depth_frame or not color_frame:
                    continue

                # Convert images to numpy arrays
                self.depth_image = np.asanyarray(depth_frame.get_data())
                self.color_image = np.asanyarray(color_frame.get_data())
                
		# Bin pixels and determine local minima
                depth_index = []
                for idx in range(self.num_sectors):
                    a = int(idx*self.pixel_group)
                    b = int((idx+1)*self.pixel_group)
                    self.depth_image[self.depth_image==0] = 3000
                    depth_index = np.append(depth_index, np.min(self.depth_image[:,a:b]))

                self.depth_index = depth_index 


        except:
            self.pipeline.stop()
            print("Error in Vision", sys.exc_info())

        finally:
            self.pipeline.stop()


    def read(self):
        # return the frame most recently read
        return self.frame

    def stop_camera(self):
        # indicate that the thread should be camera_stopped
        self.camera_started = False
        self.camera_stopped = True

if __name__ == '__main__':

    vs = VideoStream()
    vs.start_camera()
    time.sleep(5)
    while True:
        cv2.imshow("image", vs.color_image)
        print ("array", vs.depth_index)
        cv2.waitKey(1)

This is the error I get when I leave self.config.enable_stream(rs.stream.gyro) uncommented

Error in Vision (<class ‘RuntimeError’>, RuntimeError(“Frame didn’t arrived within 5000”,), <traceback object at 0x7f96f6e688>)