No imu data when using in stream

Software ROS2
1

Hello everyone,

i’m using a zedx with a zed box setup,

i’m actually trying to stream the zedx data to the pc where i want to process everything,

my problem comes with the imu topic that generate data but is instable and every 2 sec generate a message with empty data everywhere which lead to incorrect informations.

is there any workaround or known solution to this problem ?

2

Hi @GLMDaleth
Please add more information, like the version of the ZED SDK that you are using.

What do you mean here? Can you please post an example?

3

Hi @Myzhar ,

my SDK version is the folowing: ZED SDK Version: 5.1.1 - Build 106899_5f817843

it’s hard to show without a rosbag but the idea is that i have data coming on the imu topic but often i have a wrong data coming in and staying for like 1s or 2 with 0 in every field, even timestamp,

can i post rosbag here to show the problem more efficiently?

4

not sure if it will work but here is a ros bag of the problem

rosbag2_2026_01_08-18_50_40.zip (73.0 KB)

1 Like
5

Hi @GLMDaleth
I noticed that you shared a rosbag. Are you facing this problem with ROS or with native ZED SDK code?

6

hi @Myzhar ,

yes i’m facing this problem using the ros2 package

7

Please share the configuration of the node and details of your setup.

Have you already read this new section of the documentation?

8

actually my configuration is the following:

a zedbox on which my zedx camera is connected and who start the streaming via the ros2 package,

a computer on which i start the zedx node ros2 to get the stream from the zedbox.

here is the configuration for the computer :

the common_stereo.yaml:

common_stereo.yaml (21.5 KB)

the launch file:

zed_camera_front.launch.py (20.9 KB)

for the zedbox:

here is the yaml:

common_stereo_front.yaml (21.3 KB)

here is the launch file:

zed_camera_front.launch.py (20.0 KB)

9

Have you tried using ZED Explorer as a streaming server to verify if the problem appears also with it?

10

Just done it and the problem is the same

11

@Myzhar

also i’ve checked the code with the debug option and saw that the issue is coming from the getSensorData function that often returns 0 for every field without returning error messages.

also i’ve tried to use the streaming on local host in order to check if the problem was coming from the network but it still have problem:

[component_container_isolated-2] [DEBUG] [1768410365.817878430] [zed_rear.zed_node]: Sensors callback: counting subscribers
[component_container_isolated-2] [DEBUG] [1768410365.817943936] [zed_rear.zed_node]: IMU TS: 1.76841e+09 - Grab TS: 1.76841e+09 - Diff: -0.114415
[component_container_isolated-2] [DEBUG] [1768410365.817971776] [zed_rear.zed_node]: SENSOR LAST PERIOD: 0.00481796 sec @207.557 Hz
[component_container_isolated-2] [DEBUG] [1768410365.817990625] [zed_rear.zed_node]: Thread New data MEAN freq: 88.5992
[component_container_isolated-2] [DEBUG] [1768410365.818069955] [zed_rear.zed_node]: [threadFunc_pubSensorsData] mSensRateComp: 2.91445
[component_container_isolated-2] [DEBUG] [1768410365.818093924] [zed_rear.zed_node]: Sensors callback: counting subscribers
[component_container_isolated-2] [DEBUG] [1768410365.818128196] [zed_rear.zed_node]: IMU TS: 0 - Grab TS: 1.76841e+09 - Diff: 1.76841e+09
[component_container_isolated-2] [DEBUG] [1768410365.818392331] [zed_rear.zed_node]: SENSOR LAST PERIOD: -1.76841e+09 sec @-5.6548e-10 Hz
[component_container_isolated-2] [DEBUG] [1768410365.818415980] [zed_rear.zed_node]: Thread New data MEAN freq: 88.4881
[component_container_isolated-2] [DEBUG] [1768410365.818556560] [zed_rear.zed_node]: [threadFunc_pubSensorsData] mSensRateComp: 2.9087

here is the debug where u can clearly see that the IMU TS become 0 for no reason

12

Are you using the same SDK version on both the sender and receiver sides?

13

Yes i’m using the same, i tried 5.1.1 and 5.1.2 both doesn’t work