[Question] D555: Issues with IMU Data and Image Timestamps in USB Mode

Camera Model (if applicable)

D555

Topic

Basic Usage

Your Question

D555: Issues with IMU Data and Image Timestamps in USB Mode

I am currently using a D555 camera and have encountered several issues when using it in USB mode.

1. IMU gyroscope data does not change when rotating the camera

https://github.com/user-attachments/assets/28a51919-588b-414a-9591-d0c60902a685

When I physically rotate the camera, the IMU angular velocity data does not change as expected.

• The same behavior can be observed in the attached realsense-viewer video.
• I also confirmed the same behavior with the ROS 2 topics published by realsense-ros:

ros2 topic echo /camera/camera/gyro/sample

The gyroscope values remain unchanged even while the camera is being rotated.

2. header.stamp of depth, color, and infrared image topics does not update in real time

realsense-viewer USB Image header stamp 1.zip realsense-viewer USB Image header stamp 2.zip

The header.stamp values of the following image topics do not appear to update in real time:

• /camera/camera/depth/image_rect_raw
• /camera/camera/color/image_raw
• /camera/camera/infra1/image_rect_raw
• /camera/camera/infra2/image_rect_raw

The same behavior can be observed in the attached realsense-viewer video, and I also confirmed it using ros2 topic echo.

3. aligned_depth_to_color image is not published at the expected rate

The following topic also does not appear to be published at the expected frequency:

/camera/camera/aligned_depth_to_color/image_raw

I found a GitHub issue describing what appears to be the same or a very similar problem:

realsense-ros Issue #3546

Comparison with DDS Mode

Interestingly, all of the above functions work normally when using DDS mode.

These issues only occur when the D555 is operated in USB mode.

Questions

Is there a way to resolve these issues when using the D555 in USB mode?

Thank you.

Context / What You've Tried

No response

LibRealSense SDK Version (if applicable)

2.58.4

Operating System (if applicable)

Ubuntu 22.04

Additional Context

No response