ZEDX Mini unstable IMU frequency

Software
1

Dear support,

here is our setup:

  • ZedXMini
  • jetson orin on ubuntu 20.04
  • Zed sdk 5.1.1
  • Zed_wrapper ROS noetic

We use the ROS wrapper to publish the data and record as rosbags.

We have noted the following issues:

  • IMU frequency is between 190 and 150Hz, instead of 400Hz as documented.
  • IMU frequency is highly unstable between 190 and 150Hz.

Here is a plot of the frequency from the timestamps of the imu topic published by the wrapper. We encountered a similar phenomenon when recording with the ZED_sensor program.

{E27D45CE-71CE-406F-AE98-187B09FA3BA5}
{E27D45CE-71CE-406F-AE98-187B09FA3BA5}315×196 21.1 KB

Is it a normal behavior? Are there upcoming fixes scheduled?

Thank you.

2

Hi @bme
Welcome to the Stereolabs community.

We recommend you consider moving to ROS 2.
The ROS Noetic communication interface cannot guarantee a stable frequency for these types of topics.

Furthermore, the ZED ROS 2 Wrapper provides methods to make the frequency more stable at the publishing thread level.

Please note that the ZED ROS Wrapper repository is deprecated and no longer maintained because ROS reached EOL.