[BUG] IMU offsets are missing for most camera models

[peci1]

Describe the bug

In https://github.com/luxonis/depthai-ros/blob/jazzy/depthai_descriptions/urdf/include/base_macro.urdf.xacro , only OAK-D, OAK-D-PRO and OAK-D-POE have IMU offsets defined. However, most OAK cameras have IMUs. These offsets should be added to the URDF.

Expected behavior
All IMU-equipped cameras have a URDF joint with the correct offset and orientation.

[peci1]

Before fixing this bug, is there a place where these offsets could be found?

[xaru8145]

Any updates on this? I have a OAK-D-PRO-W and I am experiencing some issues with IMU frame definitions.

[xaru8145]

Seems like boards have extrinsic information between camera and IMU e.g. https://github.com/luxonis/depthai-boards/blob/adding_IMU_tmp/boards/OAK-D-PRO-W.json

[peci1]

Yes, they do have extrinsics written there. However, it is unclear how to interpret them: luxonis/depthai-boards#158 .