imu data not showing in rviz2

[timbojones91]

---

Required Info
Camera Model	{ DD455}
Firmware Version	5.13.0.50
Operating System & Version	Ubuntu 22.04 Jetpack 6.0 r2
Kernel Version (Linux Only)	5.15.135-tegra
Platform	Jetson orin nx 16gb
Librealsense SDK Version	2.55.1
Language	{C/C#/labview/opencv/pcl/python/unity }
Segment	{Robot/Smartphone/VR/AR/others }
ROS Distro	humble
RealSense ROS Wrapper Version	{4.55.1 latest master

Issue Description

I ive installed the realsense sdk with libuvc driver and the wrapper from source on an Jetson orin nx.

Realsense Viewer runs without any problems.

ive launched the wrapper with ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true enable_gyro:=true enable_accel:=true

rviz shows some topics but ihe imu is not functional

there is the following output in the terminal:

nvu@nvu:$ cd /ros2_ws
nvu@nvu:/ros2_ws$ . install/local_setup.bash
nvu@nvu:/ros2_ws$ ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true enable_gyro:=true enable_accel:=true
[INFO] [launch]: All log files can be found below /home/nvu/.ros/log/2024-12-16-13-24-36-072980-nvu-12049
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [12050]
[realsense2_camera_node-1] [INFO] [1734351876.321039805] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1734351876.321209312] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1734351876.321237536] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1734351876.927082601] [camera.camera]: Device with serial number 031422250402 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1734351876.927215947] [camera.camera]: Device with physical ID 2-1.1-3 was found.
[realsense2_camera_node-1] [INFO] [1734351876.927243788] [camera.camera]: Device with name Intel RealSense D455 was found.
[realsense2_camera_node-1] [INFO] [1734351876.927662035] [camera.camera]: Device with port number 2-1.1 was found.
[realsense2_camera_node-1] [INFO] [1734351876.927697171] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1734351876.927840534] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1734351876.928482689] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1734351876.928527905] [camera.camera]: Device Name: Intel RealSense D455
[realsense2_camera_node-1] [INFO] [1734351876.928549058] [camera.camera]: Device Serial No: 031422250402
[realsense2_camera_node-1] [INFO] [1734351876.928562338] [camera.camera]: Device physical port: 2-1.1-3
[realsense2_camera_node-1] [INFO] [1734351876.928573826] [camera.camera]: Device FW version: 5.13.0.50
[realsense2_camera_node-1] [INFO] [1734351876.928584802] [camera.camera]: Device Product ID: 0x0B5C
[realsense2_camera_node-1] [INFO] [1734351876.928594563] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1734351881.378384226] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1734351881.379648503] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1734351882.348011617] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1734351882.350116229] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1734351882.350616429] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1734351882.362089071] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1734351882.362266002] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1734351882.362314995] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1734351882.494193282] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1734351882.595000294] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] 16/12 13:24:42,596 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,607 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,617 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,628 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,639 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,650 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,661 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,671 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,683 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,694 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,704 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:42,717 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1734351882.729145181] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1734351882.761745506] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1734351882.768509908] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1734351882.783561426] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 63
[realsense2_camera_node-1] [INFO] [1734351882.783677492] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-1] [INFO] [1734351882.788610631] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] 16/12 13:24:43,122 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,133 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,245 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,256 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,267 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,277 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,288 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,299 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,310 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,321 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,331 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,342 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,353 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,364 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,375 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,588 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,599 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,610 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,620 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,631 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:43,642 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,421 ERROR [281471612807392] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 16/12 13:24:44,598 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,608 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,619 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,630 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,641 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,651 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,662 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,673 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,683 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,695 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,706 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,716 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,727 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,738 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,748 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,759 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,770 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:44,780 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:45,365 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:45,375 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:45,386 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:24:45,397 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [WARN] [1734351906.677106781] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
[realsense2_camera_node-1] 16/12 13:26:14,551 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:26:14,561 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/12 13:26:14,572 WARNING [281472313125088] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

[MartyG-RealSense]

Hi @timbojones91 The log suggests that the accel and gyro topics are being published. The /imu topic, which combines accel and gyro messages into a single topic, would not be published though. To publish the /imu topic, you should add to your launch instruction the parameter below:

unite_imu_method:=2

Is the IMU data able to be viewed in RViz2 even though the control_transfer returned messages are generating continuously in the log, please?