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L515 IMU Timestamp Disorder #1607

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xiaotaw opened this issue Jan 5, 2021 · 4 comments
Closed

L515 IMU Timestamp Disorder #1607

xiaotaw opened this issue Jan 5, 2021 · 4 comments
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l500

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@xiaotaw
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xiaotaw commented Jan 5, 2021

Info
librealsense: may be 2.41.0 or an older version, because I apt-get upgrade the system yesterday.

$ locate librealsense2.so
/opt/ros/melodic/lib/librealsense2.so
/opt/ros/melodic/lib/librealsense2.so.2.40
/opt/ros/melodic/lib/librealsense2.so.2.40.0
/usr/lib/x86_64-linux-gnu/librealsense2.so
/usr/lib/x86_64-linux-gnu/librealsense2.so.2.41
/usr/lib/x86_64-linux-gnu/librealsense2.so.2.41.0

realsense-ros: 2.2.20

$ head -n 5 /opt/ros/melodic/share/realsense2_camera/package.xml 
<?xml version="1.0"?>
<package format="2">
  <name>realsense2_camera</name>
  <version>2.2.20</version>
  <description>RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras</description>

firmware: 01.05.02.00

Problem
For every 1 hour, the imu's timestamp suddenly drop to start_timestamp when record begins.

Reproduce

  1. link camera to computer, and record imu data into a bag for a more than 1 hour.
  2. play the bag, and run a c++ program (the code comes from imu_utils), like:
void
imu_callback( const sensor_msgs::ImuConstPtr& imu_msg )
{
    //    m_buf.lock( );
    //    imu_buf.push( imu_msg );
    //    m_buf.unlock( );
    double time = imu_msg->header.stamp.toSec( );
    gyr_x->pushRadPerSec( imu_msg->angular_velocity.x, time );
    gyr_y->pushRadPerSec( imu_msg->angular_velocity.y, time );
    gyr_z->pushRadPerSec( imu_msg->angular_velocity.z, time );
    acc_x->pushMPerSec2( imu_msg->linear_acceleration.x, time );
    acc_y->pushMPerSec2( imu_msg->linear_acceleration.y, time );
    acc_z->pushMPerSec2( imu_msg->linear_acceleration.z, time );

    const double offset = 1.60972e+09;
    if ( start )
    {
        start_t = time;
        start   = false;
        std::cout << "\noffset(s): " << offset << std::endl;
    }
    else
    {
        double time_min = ( time - start_t ) / 60;
        if ( time_min > max_time_min )
            end = true;
    }
    static int cnt = 0;
    cnt ++;
    if (cnt % (400*60) == 0){
        std::cout << "start_time(s) (-offset): " << start_t - offset;
        std::cout << "  now(s) (-offset): " << time - offset;
        std::cout << "  duration(min): " << (time - start_t) / 60 << std::endl;
    }
}


ros::Subscriber sub_imu = n.subscribe( IMU_TOPIC, //
                                           20000000,
                                           imu_callback,
                                           ros::TransportHints( ).tcpNoDelay( ) );
  1. result:
offset(s): 1.60972e+09
start_time(s) (-offset): 1334.75  now(s) (-offset): 1397.43  duration(min): 1.04465
start_time(s) (-offset): 1334.75  now(s) (-offset): 1535.68  duration(min): 3.34876
start_time(s) (-offset): 1334.75  now(s) (-offset): 1774.42  duration(min): 7.32784
start_time(s) (-offset): 1334.75  now(s) (-offset): 1879.69  duration(min): 9.08239
start_time(s) (-offset): 1334.75  now(s) (-offset): 2058.9  duration(min): 12.0692
start_time(s) (-offset): 1334.75  now(s) (-offset): 2188.64  duration(min): 14.2315
start_time(s) (-offset): 1334.75  now(s) (-offset): 2310.51  duration(min): 16.2626
start_time(s) (-offset): 1334.75  now(s) (-offset): 2427.68  duration(min): 18.2155
start_time(s) (-offset): 1334.75  now(s) (-offset): 2537.92  duration(min): 20.0529
start_time(s) (-offset): 1334.75  now(s) (-offset): 2649.38  duration(min): 21.9104
start_time(s) (-offset): 1334.75  now(s) (-offset): 2781.67  duration(min): 24.1153
start_time(s) (-offset): 1334.75  now(s) (-offset): 2901.95  duration(min): 26.1201
start_time(s) (-offset): 1334.75  now(s) (-offset): 3038.92  duration(min): 28.4028
start_time(s) (-offset): 1334.75  now(s) (-offset): 3133.92  duration(min): 29.9862
start_time(s) (-offset): 1334.75  now(s) (-offset): 3230.78  duration(min): 31.6006
start_time(s) (-offset): 1334.75  now(s) (-offset): 3324.68  duration(min): 33.1656
start_time(s) (-offset): 1334.75  now(s) (-offset): 3400.22  duration(min): 34.4246
start_time(s) (-offset): 1334.75  now(s) (-offset): 3481.56  duration(min): 35.7803
start_time(s) (-offset): 1334.75  now(s) (-offset): 3596.64  duration(min): 37.6982
start_time(s) (-offset): 1334.75  now(s) (-offset): 3659.47  duration(min): 38.7454
start_time(s) (-offset): 1334.75  now(s) (-offset): 3760.47  duration(min): 40.4287
start_time(s) (-offset): 1334.75  now(s) (-offset): 3843.92  duration(min): 41.8196
start_time(s) (-offset): 1334.75  now(s) (-offset): 3933.54  duration(min): 43.3132
start_time(s) (-offset): 1334.75  now(s) (-offset): 4022.58  duration(min): 44.7972
start_time(s) (-offset): 1334.75  now(s) (-offset): 4122.32  duration(min): 46.4595
start_time(s) (-offset): 1334.75  now(s) (-offset): 4204.8  duration(min): 47.8342
start_time(s) (-offset): 1334.75  now(s) (-offset): 4290.03  duration(min): 49.2546
start_time(s) (-offset): 1334.75  now(s) (-offset): 4372.75  duration(min): 50.6333
start_time(s) (-offset): 1334.75  now(s) (-offset): 4454.51  duration(min): 51.996
start_time(s) (-offset): 1334.75  now(s) (-offset): 4545.75  duration(min): 53.5168
start_time(s) (-offset): 1334.75  now(s) (-offset): 4649.08  duration(min): 55.2389
start_time(s) (-offset): 1334.75  now(s) (-offset): 4733.82  duration(min): 56.6511
start_time(s) (-offset): 1334.75  now(s) (-offset): 4828.19  duration(min): 58.2239
start_time(s) (-offset): 1334.75  now(s) (-offset): 4916.25  duration(min): 59.6916
start_time(s) (-offset): 1334.75  now(s) (-offset): 4994.62  duration(min): 60.9978
start_time(s) (-offset): 1334.75  now(s) (-offset): 5075.95  duration(min): 62.3534
start_time(s) (-offset): 1334.75  now(s) (-offset): 951.788  duration(min): -6.3827
start_time(s) (-offset): 1334.75  now(s) (-offset): 1011.57  duration(min): -5.38637
start_time(s) (-offset): 1334.75  now(s) (-offset): 1071.35  duration(min): -4.39005
start_time(s) (-offset): 1334.75  now(s) (-offset): 1162.53  duration(min): -2.87036
start_time(s) (-offset): 1334.75  now(s) (-offset): 1267.17  duration(min): -1.12625
start_time(s) (-offset): 1334.75  now(s) (-offset): 1362.63  duration(min): 0.464634
start_time(s) (-offset): 1334.75  now(s) (-offset): 1470.18  duration(min): 2.25723
start_time(s) (-offset): 1334.75  now(s) (-offset): 1574.67  duration(min): 3.99873
start_time(s) (-offset): 1334.75  now(s) (-offset): 1655.35  duration(min): 5.34327
start_time(s) (-offset): 1334.75  now(s) (-offset): 1729.99  duration(min): 6.58735
start_time(s) (-offset): 1334.75  now(s) (-offset): 1820.46  duration(min): 8.09517
start_time(s) (-offset): 1334.75  now(s) (-offset): 1893.56  duration(min): 9.31352
start_time(s) (-offset): 1334.75  now(s) (-offset): 1963.81  duration(min): 10.4844
start_time(s) (-offset): 1334.75  now(s) (-offset): 2048.88  duration(min): 11.9022
start_time(s) (-offset): 1334.75  now(s) (-offset): 2124  duration(min): 13.1542
start_time(s) (-offset): 1334.75  now(s) (-offset): 2225.35  duration(min): 14.8434
start_time(s) (-offset): 1334.75  now(s) (-offset): 2326.09  duration(min): 16.5224
start_time(s) (-offset): 1334.75  now(s) (-offset): 2399.47  duration(min): 17.7454
start_time(s) (-offset): 1334.75  now(s) (-offset): 2495.32  duration(min): 19.3429
start_time(s) (-offset): 1334.75  now(s) (-offset): 2600.03  duration(min): 21.0879
start_time(s) (-offset): 1334.75  now(s) (-offset): 2722.2  duration(min): 23.1242
start_time(s) (-offset): 1334.75  now(s) (-offset): 2830.76  duration(min): 24.9335
start_time(s) (-offset): 1334.75  now(s) (-offset): 2927.11  duration(min): 26.5393
start_time(s) (-offset): 1334.75  now(s) (-offset): 3039.33  duration(min): 28.4097
start_time(s) (-offset): 1334.75  now(s) (-offset): 3123.74  duration(min): 29.8165
start_time(s) (-offset): 1334.75  now(s) (-offset): 3225.48  duration(min): 31.5122
start_time(s) (-offset): 1334.75  now(s) (-offset): 3309.21  duration(min): 32.9077
start_time(s) (-offset): 1334.75  now(s) (-offset): 3404.11  duration(min): 34.4894
start_time(s) (-offset): 1334.75  now(s) (-offset): 3484.5  duration(min): 35.8291
start_time(s) (-offset): 1334.75  now(s) (-offset): 3549.02  duration(min): 36.9045
start_time(s) (-offset): 1334.75  now(s) (-offset): 3621.66  duration(min): 38.1151
start_time(s) (-offset): 1334.75  now(s) (-offset): 3713.85  duration(min): 39.6517
start_time(s) (-offset): 1334.75  now(s) (-offset): 3783.8  duration(min): 40.8175
start_time(s) (-offset): 1334.75  now(s) (-offset): 3868.62  duration(min): 42.2312
start_time(s) (-offset): 1334.75  now(s) (-offset): 3940.35  duration(min): 43.4267
start_time(s) (-offset): 1334.75  now(s) (-offset): 4052.79  duration(min): 45.3007
start_time(s) (-offset): 1334.75  now(s) (-offset): 4169.97  duration(min): 47.2537
start_time(s) (-offset): 1334.75  now(s) (-offset): 4264.03  duration(min): 48.8213
start_time(s) (-offset): 1334.75  now(s) (-offset): 4371.9  duration(min): 50.6192
start_time(s) (-offset): 1334.75  now(s) (-offset): 4456.05  duration(min): 52.0216
start_time(s) (-offset): 1334.75  now(s) (-offset): 4540.36  duration(min): 53.4268
start_time(s) (-offset): 1334.75  now(s) (-offset): 4643.91  duration(min): 55.1527
start_time(s) (-offset): 1334.75  now(s) (-offset): 4751.16  duration(min): 56.9401
start_time(s) (-offset): 1334.75  now(s) (-offset): 4887.93  duration(min): 59.2197
start_time(s) (-offset): 1334.75  now(s) (-offset): 4990.8  duration(min): 60.9342
start_time(s) (-offset): 1334.75  now(s) (-offset): 5103.07  duration(min): 62.8053
start_time(s) (-offset): 1334.75  now(s) (-offset): 979.929  duration(min): -5.91368
start_time(s) (-offset): 1334.75  now(s) (-offset): 1052.78  duration(min): -4.69951
start_time(s) (-offset): 1334.75  now(s) (-offset): 1134.94  duration(min): -3.33024
start_time(s) (-offset): 1334.75  now(s) (-offset): 1219.99  duration(min): -1.91265
start_time(s) (-offset): 1334.75  now(s) (-offset): 1312.01  duration(min): -0.379072
start_time(s) (-offset): 1334.75  now(s) (-offset): 1431.72  duration(min): 1.61611
start_time(s) (-offset): 1334.75  now(s) (-offset): 1642.2  duration(min): 5.12416
start_time(s) (-offset): 1334.75  now(s) (-offset): 1739.55  duration(min): 6.7467
start_time(s) (-offset): 1334.75  now(s) (-offset): 1865.11  duration(min): 8.83936
start_time(s) (-offset): 1334.75  now(s) (-offset): 2072.03  duration(min): 12.2881
start_time(s) (-offset): 1334.75  now(s) (-offset): 2136.27  duration(min): 13.3587
start_time(s) (-offset): 1334.75  now(s) (-offset): 2196.05  duration(min): 14.3551
start_time(s) (-offset): 1334.75  now(s) (-offset): 2255.83  duration(min): 15.3514
start_time(s) (-offset): 1334.75  now(s) (-offset): 2379.71  duration(min): 17.416
start_time(s) (-offset): 1334.75  now(s) (-offset): 2485.95  duration(min): 19.1866
start_time(s) (-offset): 1334.75  now(s) (-offset): 2603.18  duration(min): 21.1405
start_time(s) (-offset): 1334.75  now(s) (-offset): 2704.01  duration(min): 22.821
start_time(s) (-offset): 1334.75  now(s) (-offset): 2812.14  duration(min): 24.6232
start_time(s) (-offset): 1334.75  now(s) (-offset): 2913.07  duration(min): 26.3054
start_time(s) (-offset): 1334.75  now(s) (-offset): 3009.9  duration(min): 27.9192
start_time(s) (-offset): 1334.75  now(s) (-offset): 3102.33  duration(min): 29.4596
start_time(s) (-offset): 1334.75  now(s) (-offset): 3210.18  duration(min): 31.2571
start_time(s) (-offset): 1334.75  now(s) (-offset): 3312.18  duration(min): 32.9572
start_time(s) (-offset): 1334.75  now(s) (-offset): 3428.74  duration(min): 34.8998
start_time(s) (-offset): 1334.75  now(s) (-offset): 3549.32  duration(min): 36.9095
start_time(s) (-offset): 1334.75  now(s) (-offset): 3649.78  duration(min): 38.5838
start_time(s) (-offset): 1334.75  now(s) (-offset): 3754.1  duration(min): 40.3226
start_time(s) (-offset): 1334.75  now(s) (-offset): 3856.92  duration(min): 42.0362
start_time(s) (-offset): 1334.75  now(s) (-offset): 3967.35  duration(min): 43.8767
start_time(s) (-offset): 1334.75  now(s) (-offset): 4077.19  duration(min): 45.7074
start_time(s) (-offset): 1334.75  now(s) (-offset): 4183.3  duration(min): 47.4759
start_time(s) (-offset): 1334.75  now(s) (-offset): 4302.64  duration(min): 49.4649
start_time(s) (-offset): 1334.75  now(s) (-offset): 4492.18  duration(min): 52.6239
start_time(s) (-offset): 1334.75  now(s) (-offset): 4694.36  duration(min): 55.9935
start_time(s) (-offset): 1334.75  now(s) (-offset): 4898.19  duration(min): 59.3907
start_time(s) (-offset): 1334.75  now(s) (-offset): 5068.62  duration(min): 62.2312
start_time(s) (-offset): 1334.75  now(s) (-offset): 1004.06  duration(min): -5.51158
start_time(s) (-offset): 1334.75  now(s) (-offset): 1232.35  duration(min): -1.70673
start_time(s) (-offset): 1334.75  now(s) (-offset): 1465.02  duration(min): 2.17109
start_time(s) (-offset): 1334.75  now(s) (-offset): 1644.14  duration(min): 5.15644
start_time(s) (-offset): 1334.75  now(s) (-offset): 1787.56  duration(min): 7.54691
start_time(s) (-offset): 1334.75  now(s) (-offset): 1914.98  duration(min): 9.67052
start_time(s) (-offset): 1334.75  now(s) (-offset): 2042.22  duration(min): 11.7912
start_time(s) (-offset): 1334.75  now(s) (-offset): 2157.67  duration(min): 13.7154
start_time(s) (-offset): 1334.75  now(s) (-offset): 2252.47  duration(min): 15.2953
start_time(s) (-offset): 1334.75  now(s) (-offset): 2358.24  duration(min): 17.0582
start_time(s) (-offset): 1334.75  now(s) (-offset): 2459.59  duration(min): 18.7473
start_time(s) (-offset): 1334.75  now(s) (-offset): 2556.52  duration(min): 20.3628
start_time(s) (-offset): 1334.75  now(s) (-offset): 2684.14  duration(min): 22.4898
start_time(s) (-offset): 1334.75  now(s) (-offset): 2804.98  duration(min): 24.5039
start_time(s) (-offset): 1334.75  now(s) (-offset): 2909.15  duration(min): 26.24
start_time(s) (-offset): 1334.75  now(s) (-offset): 3011.8  duration(min): 27.9508
start_time(s) (-offset): 1334.75  now(s) (-offset): 3147.41  duration(min): 30.211
start_time(s) (-offset): 1334.75  now(s) (-offset): 3274.22  duration(min): 32.3244
start_time(s) (-offset): 1334.75  now(s) (-offset): 3383.4  duration(min): 34.1442
start_time(s) (-offset): 1334.75  now(s) (-offset): 3481.59  duration(min): 35.7806
start_time(s) (-offset): 1334.75  now(s) (-offset): 3594.23  duration(min): 37.658
start_time(s) (-offset): 1334.75  now(s) (-offset): 3700.75  duration(min): 39.4333
start_time(s) (-offset): 1334.75  now(s) (-offset): 3794.66  duration(min): 40.9986
start_time(s) (-offset): 1334.75  now(s) (-offset): 3887.63  duration(min): 42.548
start_time(s) (-offset): 1334.75  now(s) (-offset): 3992.98  duration(min): 44.3038
start_time(s) (-offset): 1334.75  now(s) (-offset): 4091.99  duration(min): 45.9539
start_time(s) (-offset): 1334.75  now(s) (-offset): 4208.11  duration(min): 47.8894
start_time(s) (-offset): 1334.75  now(s) (-offset): 4339.97  duration(min): 50.0869
start_time(s) (-offset): 1334.75  now(s) (-offset): 4485.89  duration(min): 52.5191
start_time(s) (-offset): 1334.75  now(s) (-offset): 4602.6  duration(min): 54.4642
start_time(s) (-offset): 1334.75  now(s) (-offset): 4721.26  duration(min): 56.4418
start_time(s) (-offset): 1334.75  now(s) (-offset): 4828.67  duration(min): 58.2319
start_time(s) (-offset): 1334.75  now(s) (-offset): 4926.34  duration(min): 59.8598
start_time(s) (-offset): 1334.75  now(s) (-offset): 5038.73  duration(min): 61.733
start_time(s) (-offset): 1334.75  now(s) (-offset): 941.462  duration(min): -6.5548
start_time(s) (-offset): 1334.75  now(s) (-offset): 1001.24  duration(min): -5.55844
start_time(s) (-offset): 1334.75  now(s) (-offset): 1061.03  duration(min): -4.56208
start_time(s) (-offset): 1334.75  now(s) (-offset): 1142.32  duration(min): -3.20719
start_time(s) (-offset): 1334.75  now(s) (-offset): 1263.82  duration(min): -1.18217
start_time(s) (-offset): 1334.75  now(s) (-offset): 1369.5  duration(min): 0.579226
start_time(s) (-offset): 1334.75  now(s) (-offset): 1482.78  duration(min): 2.46716
start_time(s) (-offset): 1334.75  now(s) (-offset): 1586.33  duration(min): 4.19303
start_time(s) (-offset): 1334.75  now(s) (-offset): 1690.9  duration(min): 5.93587
start_time(s) (-offset): 1334.75  now(s) (-offset): 1797.24  duration(min): 7.70819
start_time(s) (-offset): 1334.75  now(s) (-offset): 1921.3  duration(min): 9.7758
start_time(s) (-offset): 1334.75  now(s) (-offset): 2043.02  duration(min): 11.8046
start_time(s) (-offset): 1334.75  now(s) (-offset): 2180.66  duration(min): 14.0985
start_time(s) (-offset): 1334.75  now(s) (-offset): 2314.37  duration(min): 16.327
start_time(s) (-offset): 1334.75  now(s) (-offset): 2426.2  duration(min): 18.1909
start_time(s) (-offset): 1334.75  now(s) (-offset): 2568.47  duration(min): 20.562
start_time(s) (-offset): 1334.75  now(s) (-offset): 2719.67  duration(min): 23.082
start_time(s) (-offset): 1334.75  now(s) (-offset): 2853.87  duration(min): 25.3187
start_time(s) (-offset): 1334.75  now(s) (-offset): 3005.07  duration(min): 27.8387
start_time(s) (-offset): 1334.75  now(s) (-offset): 3209.05  duration(min): 31.2383
start_time(s) (-offset): 1334.75  now(s) (-offset): 3370.67  duration(min): 33.932
start_time(s) (-offset): 1334.75  now(s) (-offset): 3506.03  duration(min): 36.188
start_time(s) (-offset): 1334.75  now(s) (-offset): 3648.28  duration(min): 38.5589
start_time(s) (-offset): 1334.75  now(s) (-offset): 3750.59  duration(min): 40.2639
start_time(s) (-offset): 1334.75  now(s) (-offset): 3865.22  duration(min): 42.1744
start_time(s) (-offset): 1334.75  now(s) (-offset): 4006.5  duration(min): 44.5291
start_time(s) (-offset): 1334.75  now(s) (-offset): 4102.97  duration(min): 46.137
start_time(s) (-offset): 1334.75  now(s) (-offset): 4269.04  duration(min): 48.9048
start_time(s) (-offset): 1334.75  now(s) (-offset): 4459.81  duration(min): 52.0843
start_time(s) (-offset): 1334.75  now(s) (-offset): 4607.51  duration(min): 54.546
start_time(s) (-offset): 1334.75  now(s) (-offset): 4724.26  duration(min): 56.4918
start_time(s) (-offset): 1334.75  now(s) (-offset): 4844.1  duration(min): 58.4891
start_time(s) (-offset): 1334.75  now(s) (-offset): 4953.35  duration(min): 60.31
start_time(s) (-offset): 1334.75  now(s) (-offset): 5107.84  duration(min): 62.8848
start_time(s) (-offset): 1334.75  now(s) (-offset): 1015.14  duration(min): -5.32689
start_time(s) (-offset): 1334.75  now(s) (-offset): 1155.78  duration(min): -2.98284
start_time(s) (-offset): 1334.75  now(s) (-offset): 1297.37  duration(min): -0.622928
start_time(s) (-offset): 1334.75  now(s) (-offset): 1439.5  duration(min): 1.74578
start_time(s) (-offset): 1334.75  now(s) (-offset): 1563.02  duration(min): 3.80458
start_time(s) (-offset): 1334.75  now(s) (-offset): 1697.97  duration(min): 6.05364
start_time(s) (-offset): 1334.75  now(s) (-offset): 1846.73  duration(min): 8.53307
start_time(s) (-offset): 1334.75  now(s) (-offset): 1979.89  duration(min): 10.7523
start_time(s) (-offset): 1334.75  now(s) (-offset): 2122.07  duration(min): 13.122
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@xiaotaw
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xiaotaw commented Jan 5, 2021

launch file:

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default=""/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="realsense2_camera_manager"/>
  <arg name="output"              default="screen"/>

  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="false"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="false"/>

  <arg name="infra_width"         default="640"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra"        default="false"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>
  <arg name="infra_rgb"           default="false"/>

  <arg name="color_width"         default="1280"/>
  <arg name="color_height"        default="720"/>
  <arg name="enable_color"        default="false"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="400"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>

  <arg name="enable_pointcloud"         default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
  <arg name="pointcloud_texture_index"  default="0"/>

  <arg name="enable_sync"               default="true"/>
  <arg name="align_depth"               default="true"/>

  <arg name="publish_tf"                default="true"/>
  <arg name="tf_publish_rate"           default="0"/>

  <arg name="filters"                   default=""/>
  <arg name="clip_distance"             default="-2"/>
  <arg name="linear_accel_cov"          default="0.01"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="unite_imu_method"          default="linear_interpolation"/>
  <arg name="topic_odom_in"             default="odom_in"/>
  <arg name="calib_odom_file"           default=""/>
  <arg name="publish_odom_tf"           default="true"/>
  <arg name="allow_no_texture_points"   default="false"/>

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="external_manager"         value="$(arg external_manager)"/>
      <arg name="manager"                  value="$(arg manager)"/>
      <arg name="output"                   value="$(arg output)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="usb_port_id"              value="$(arg usb_port_id)"/>
      <arg name="device_type"              value="$(arg device_type)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra"             value="$(arg enable_infra)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
      <arg name="infra_rgb"                value="$(arg infra_rgb)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>

      <arg name="publish_tf"               value="$(arg publish_tf)"/>
      <arg name="tf_publish_rate"          value="$(arg tf_publish_rate)"/>

      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
      <arg name="topic_odom_in"            value="$(arg topic_odom_in)"/>
      <arg name="calib_odom_file"          value="$(arg calib_odom_file)"/>
      <arg name="publish_odom_tf"          value="$(arg publish_odom_tf)"/>
      <arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/>
    </include>
  </group>
</launch>

@doronhi
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doronhi commented Jan 12, 2021

I'll look into it. I opened an inner tracking file: RS5-10187

@doronhi
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doronhi commented Jan 14, 2021

The issue is caused because global_timestamp is off (in L515 it is currently off by default. It is On by default in D4xx series). To turn it on, add the following lines to your launch file:

  <rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true
  </rosparam>

@xiaotaw
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xiaotaw commented Jan 18, 2021

Thank you, @doronhi ! I will try it and give a feedback as soon as possible.

@xiaotaw xiaotaw closed this as completed Jan 18, 2021
This was referenced Jun 1, 2021
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@shubhamwagh shubhamwagh mentioned this issue Jan 14, 2022
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@xiaotaw @doronhi @RealSenseSupport