Enabling imu fusion prevents cuVSLAM from initializing

[Salvo-Dippolito]

I tried launching the node by changing parameters enable_imu_fusion and imu_frame, so instead of the tutorial launch command:

   ros2 launch isaac_ros_examples isaac_ros_examples.launch.py \
   launch_fragments:=zed_stereo_rect,visual_slam \
   pub_frame_rate:=30.0 \
   base_frame:=zed2_camera_center \
   camera_optical_frames:="['zed2_left_camera_optical_frame', 'zed2_right_camera_optical_frame']" \
   interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/zed2_quickstart_interface_specs.json

I ran:

	ros2 launch isaac_ros_examples isaac_ros_examples.launch.py \
	launch_fragments:=zed_stereo_rect,visual_slam \
	pub_frame_rate:=30.0 \
	base_frame:=zed2_camera_center \
	camera_optical_frames:="['zed2_left_camera_optical_frame', 'zed2_right_camera_optical_frame']" \
	interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/zed2_quickstart_interface_specs.json \
	enable_imu_fusion:=true \
	imu_frame:=zed2_imu_link

there are no clear error messages, other than tf not working when checking it with rviz, which is probably caused by the fact that cuvslam isn't initializing completely for some reason. I'm deducing this just from the fact that when I try to enable imu fusion I don't see this print-out anymore, which instead comes up when launching with the tutorial launch command:

[component_container_mt-1] [INFO] [1757075664.034256003] [visual_slam_node]: Initializing cuVSLAM.
[component_container_mt-1] [INFO] [1757075664.036954466] [visual_slam_node]: Use use_gpu: true
[component_container_mt-1] [INFO] [1757075664.037027843] [visual_slam_node]: Enable IMU Fusion: false
[component_container_mt-1] [INFO] [1757075664.193040135] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 0.155994
[component_container_mt-1] [INFO] [1757075664.193981629] [visual_slam_node]: cuVSLAM tracker was successfully initialized.

I've read in another issue from 2024 that imu fusion wasn't fully integrated yet in isaac ros, has this been solved ? What can I do to further troubleshoot or solve this issue?