My goal is to use the D435i in Rtabmap with camera depth and IMU. I also tried with unite_imu_method:=linear_interpolation But still the same error. I dont see any “rostopic as /camera/imu”

The camera is connected with the supplied USB cable directly connected with the USB port in Jetson Xavier NX.

realsense_ros version 2.3.2 or latest and librealsense is 2.50.x The Jetpack and Ubuntu info as below:

ROS: Melodic Ubuntu: 18.04 Jetson Package: nvidia-jetpack Version: 4.6-b199 Architecture: arm64 Maintainer: NVIDIA Corporation Installed-Size: 194 Depends: nvidia-cuda (= 4.6-b199), nvidia-opencv (= 4.6-b199), nvidia-cudnn8 (= 4.6-b199), nvidia-tensorrt (= 4.6-b199), nvidia-visionworks (= 4.6-b199), nvidia-container (= 4.6-b199), nvidia-vpi (= 4.6-b199), nvidia-l4t-jetson-multimedia-api (>> 32.6-0), nvidia-l4t-jetson-multimedia-api (<< 32.7-0)

`remote-eng@xavier-nx:~$ roslaunch realsense2_camera rs_camera.launch initial_reset:=true align_depth:=true filters:=pointcloud depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 unite_imu_method:=copy enable_gyro:=true enable_accel:=true gyro_fps:=250 accel_fps:=200 … logging to /home/remote-eng/.ros/log/9c1d2e46-6dda-11ec-b7ba-d8c0a6b11fcf/roslaunch-xavier-nx-23024.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://xavier-nx:42683/

SUMMARY

PARAMETERS

• /camera/realsense2_camera/accel_fps: 200
• /camera/realsense2_camera/accel_frame_id: camera_accel_frame
• /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti…
• /camera/realsense2_camera/align_depth: True
• /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de…
• /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de…
• /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de…
• /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de…
• /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de…
• /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de…
• /camera/realsense2_camera/allow_no_texture_points: False
• /camera/realsense2_camera/base_frame_id: camera_link
• /camera/realsense2_camera/calib_odom_file:
• /camera/realsense2_camera/clip_distance: -2.0
• /camera/realsense2_camera/color_fps: 30
• /camera/realsense2_camera/color_frame_id: camera_color_frame
• /camera/realsense2_camera/color_height: 480
• /camera/realsense2_camera/color_optical_frame_id: camera_color_opti…
• /camera/realsense2_camera/color_width: 640
• /camera/realsense2_camera/confidence_fps: -1
• /camera/realsense2_camera/confidence_height: -1
• /camera/realsense2_camera/confidence_width: -1
• /camera/realsense2_camera/depth_fps: 30
• /camera/realsense2_camera/depth_frame_id: camera_depth_frame
• /camera/realsense2_camera/depth_height: 480
• /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti…
• /camera/realsense2_camera/depth_width: 640
• /camera/realsense2_camera/device_type:
• /camera/realsense2_camera/enable_accel: True
• /camera/realsense2_camera/enable_color: True
• /camera/realsense2_camera/enable_confidence: True
• /camera/realsense2_camera/enable_depth: True
• /camera/realsense2_camera/enable_fisheye1: False
• /camera/realsense2_camera/enable_fisheye2: False
• /camera/realsense2_camera/enable_fisheye: False
• /camera/realsense2_camera/enable_gyro: True
• /camera/realsense2_camera/enable_infra1: False
• /camera/realsense2_camera/enable_infra2: False
• /camera/realsense2_camera/enable_infra: False
• /camera/realsense2_camera/enable_pointcloud: False
• /camera/realsense2_camera/enable_pose: False
• /camera/realsense2_camera/enable_sync: False
• /camera/realsense2_camera/filters: pointcloud
• /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f…
• /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o…
• /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f…
• /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o…
• /camera/realsense2_camera/fisheye_fps: -1
• /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
• /camera/realsense2_camera/fisheye_height: -1
• /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op…
• /camera/realsense2_camera/fisheye_width: -1
• /camera/realsense2_camera/gyro_fps: 250
• /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
• /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic…
• /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica…
• /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
• /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt…
• /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
• /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt…
• /camera/realsense2_camera/infra_fps: 30
• /camera/realsense2_camera/infra_height: 480
• /camera/realsense2_camera/infra_rgb: False
• /camera/realsense2_camera/infra_width: 848
• /camera/realsense2_camera/initial_reset: True
• /camera/realsense2_camera/json_file_path:
• /camera/realsense2_camera/linear_accel_cov: 0.01
• /camera/realsense2_camera/odom_frame_id: camera_odom_frame
• /camera/realsense2_camera/ordered_pc: False
• /camera/realsense2_camera/pointcloud_texture_index: 0
• /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /camera/realsense2_camera/pose_frame_id: camera_pose_frame
• /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic…
• /camera/realsense2_camera/publish_odom_tf: True
• /camera/realsense2_camera/publish_tf: True
• /camera/realsense2_camera/reconnect_timeout: 6.0
• /camera/realsense2_camera/rosbag_filename:
• /camera/realsense2_camera/serial_no:
• /camera/realsense2_camera/stereo_module/exposure/1: 7500
• /camera/realsense2_camera/stereo_module/exposure/2: 1
• /camera/realsense2_camera/stereo_module/gain/1: 16
• /camera/realsense2_camera/stereo_module/gain/2: 16
• /camera/realsense2_camera/tf_publish_rate: 0.0
• /camera/realsense2_camera/topic_odom_in: odom_in
• /camera/realsense2_camera/unite_imu_method: copy
• /camera/realsense2_camera/usb_port_id:
• /camera/realsense2_camera/wait_for_device_timeout: -1.0
• /rosdistro: melodic
• /rosversion: 1.14.12

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [23034] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9c1d2e46-6dda-11ec-b7ba-d8c0a6b11fcf process[rosout-1]: started with pid [23047] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [23064] process[camera/realsense2_camera-3]: started with pid [23065] [ INFO] [1641354626.842334499]: Initializing nodelet with 4 worker threads. [ INFO] [1641354627.238120701]: RealSense ROS v2.3.2 [ INFO] [1641354627.238257533]: Built with LibRealSense v2.50.0 [ INFO] [1641354627.238346878]: Running with LibRealSense v2.50.0 [ INFO] [1641354627.353258880]:
04/01 22:50:27,438 WARNING [546803020160] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1641354627.697529733]: Device with serial number 045322074531 was found.

[ INFO] [1641354627.697784838]: Device with physical ID 2-3.2-9 was found. [ INFO] [1641354627.697912903]: Device with name Intel RealSense D435I was found. [ INFO] [1641354627.700014065]: Device with port number 2-3.2 was found. [ INFO] [1641354627.700142257]: Device USB type: 3.2 [ INFO] [1641354627.700248786]: Resetting device… [ INFO] [1641354633.842230794]:
[ INFO] [1641354634.161278901]: Device with serial number 045322074531 was found.

[ INFO] [1641354634.162921885]: Device with physical ID 2-3.2-10 was found. [ INFO] [1641354634.163335903]: Device with name Intel RealSense D435I was found. [ INFO] [1641354634.165729098]: Device with port number 2-3.2 was found. [ INFO] [1641354634.165855562]: Device USB type: 3.2 [ INFO] [1641354634.177713859]: getParameters… [ INFO] [1641354634.674126839]: setupDevice… [ INFO] [1641354634.674287960]: JSON file is not provided [ INFO] [1641354634.674410104]: ROS Node Namespace: camera [ INFO] [1641354634.674526489]: Device Name: Intel RealSense D435I [ INFO] [1641354634.674609753]: Device Serial No: 045322074531 [ INFO] [1641354634.674671577]: Device physical port: 2-3.2-10 [ INFO] [1641354634.674897051]: Device FW version: 05.13.00.50 [ INFO] [1641354634.674982555]: Device Product ID: 0x0B3A [ INFO] [1641354634.675044059]: Enable PointCloud: On [ INFO] [1641354634.675150620]: Align Depth: On [ INFO] [1641354634.675252060]: Sync Mode: On [ INFO] [1641354634.675517021]: Device Sensors: [ INFO] [1641354634.777893475]: Stereo Module was found. [ INFO] [1641354634.861425904]: RGB Camera was found. [ INFO] [1641354634.862906743]: Motion Module was found. [ INFO] [1641354634.863500218]: (Confidence, 0) sensor isn’t supported by current device! – Skipping… [ INFO] [1641354634.864987137]: Add Filter: pointcloud [ INFO] [1641354634.869699671]: num_filters: 2 [ INFO] [1641354634.870251002]: Setting Dynamic reconfig parameters. [ INFO] [1641354639.237687847]: Done Setting Dynamic reconfig parameters. [ INFO] [1641354639.239303982]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1641354639.241110807]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8 [ WARN] [1641354639.244200902]: No mathcing profile found for gyro with fps=250 [ WARN] [1641354639.244338662]: Using default profile instead. [ INFO] [1641354639.244465191]: gyro stream is enabled - fps: 200 [ WARN] [1641354639.244642248]: No mathcing profile found for accel with fps=200 [ WARN] [1641354639.244744328]: Using default profile instead. [ INFO] [1641354639.244831689]: accel stream is enabled - fps: 63 [ INFO] [1641354639.244914953]: setupPublishers… [ INFO] [1641354639.258937868]: Expected frequency for depth = 30.00000 [ INFO] [1641354639.430975739]: Expected frequency for color = 30.00000 [ INFO] [1641354639.545222777]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1641354639.653979612]: Start publisher IMU [ INFO] [1641354639.659942809]: setupStreams… 04/01 22:50:39,837 WARNING [547035201920] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used. [ WARN] [1641354640.217446699]: [ WARN] [1641354640.320831510]: Hardware Notification:Motion Module failure,1.64135e+12,Error,Hardware Error 04/01 22:50:40,484 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1641354640.535796144]: SELECTED BASE:Depth, 0 [ INFO] [1641354640.596498480]: RealSense Node Is Up! 04/01 22:50:40,608 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:40,658 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:40,709 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:40,760 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:41,031 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:41,081 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:42,708 ERROR [546056429952] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 `