D455 IMU not publishing on /d455/imu with unite_imu_method=linear_interpolation [ROS Noetic, Ubuntu 20.04]

[Dikshith-Aethrone]

Environment

• OS: Ubuntu 20.04.6 LTS (x86_64)
• ROS: Noetic
• librealsense version: (apt / source v2.50.0 — testing both)
• realsense-ros branch: ros1-legacy
• Camera: Intel RealSense D455
• Serial: 327522300097
• Firmware: 5.17.0.10 (up to date)
• Connection: USB 3.0 (direct, no hub)

Problem

/d455/imu topic is created but publishes zero messages when using
unite_imu_method:=linear_interpolation or copy.

rostopic hz /d455/imu → no new messages
rostopic hz /d455/gyro/sample → no new messages
rostopic hz /d455/accel/sample → no new messages

What works

• realsense-viewer → Motion tab → Gyro + Accel stream live data ✅
• rs-enumerate-devices detects D455 ✅
• /d455/color/image_raw and /d455/depth/image_rect_raw publish correctly ✅
• /d455/motion_module/parameter_descriptions returns valid params ✅

Launch command used

roslaunch realsense2_camera rs_camera.launch \
  camera:=d455 \
  serial_no:=327522300097 \
  enable_gyro:=true \
  enable_accel:=true \
  gyro_fps:=200 \
  accel_fps:=63 \
  unite_imu_method:=linear_interpolation \
  filters:=pointcloud

Topic list

/d455/accel/imu_info     ← exists, echoes once but no stream
/d455/gyro/imu_info      ← exists, echoes once but no stream
/d455/imu                ← exists but 0 Hz
/d455/color/image_raw    ← works fine at 30 Hz
/d455/depth/image_rect_raw ← works fine at 30 Hz

Steps already tried

    Toggled enable_motion_correction in rqt_reconfigure → no effect

    Tried unite_imu_method:=copy → same result

    Explicit gyro_fps:=200 accel_fps:=63 → no effect

    Removed duplicate udev rules

    Wiped and reinstalled librealsense from source (v2.50.0 and v2.57.6)

    IMU confirmed working in realsense-viewer at SDK level

Question

Is there a known working version combination (librealsense + realsense-ros branch/tag)
for D455 IMU streaming on ROS Noetic Ubuntu 20.04?
Any workaround to get /d455/gyro/sample publishing?


Also cross-reference these related issues in your post so maintainers see the pattern:
- [#3321](https://github.com/IntelRealSense/realsense-ros/issues/3321) — D455 RGB + IMU ROS Noetic
- [#3121](https://github.com/IntelRealSense/realsense-ros/issues/3121) — D455 cannot get IMU msg
- [#3208](https://github.com/IntelRealSense/realsense-ros/issues/3208) — IMU problems D455[3]

[MartyG-RealSense]

Hi @Dikshith-Aethrone May I first ask whether you are using a PC computer, or using an Nvidia Jetson computing board with JetPack 6. Thanks!

[Dikshith-Aethrone]

Hi, thanks for the response!

I am using a PC laptop (x86_64) with:

• OS: Ubuntu 20.04.6 LTS
• ROS: Noetic
• CPU: Intel (laptop, not Jetson)
• No Nvidia Jetson involved

[MartyG-RealSense]

Thanks very much for the information.

I note that you are setting the accel and gyro FPS to 63 and 200 respectively. RealSense cameras manufactured after mid 2022 no longer support 63 for the accel speed and support 100 instead. If your camera was bought in recent years then you could try 100 accel and gyro 200, or not setting IMU FPS values at all since the default IMU speeds of your particular camera will be used automatically if you don't define them.

[Dikshith-Aethrone]

Thank you for the accel_fps tip!

I tried accel_fps:=100 gyro_fps:=200 but now getting a different error
immediately after "RealSense Node Is Up!":

[WARN] Hardware Notification: Motion Module failure, 1.77339e+12, Error, Hardware Error

IMU topics still show no new messages.

Additional info:

• realsense-viewer → Motion tab → Gyro + Accel stream fine ✅
• rs-enumerate-devices shows firmware 5.17.0.10 (recommended version) ✅
• Error only appears in ROS wrapper, not in SDK viewer

[MartyG-RealSense]

The Motion Module Failure error is more difficult to resolve in the ROS wrapper than it is if it occurs in the Viewer. With the Viewer, you can disable the Motion Module and re-enable it a second time and that tends to clear the problem up. But there isn't such a convenient on / off toggle in the ROS wrapper.

You could try exiting out of the ROS session with Ctrl-C after RealSense Node Is Up has appeared and launch again to see if the IMU starts working.

Also try launching with the initial_reset:=true parameter in the launch command to reset the camera during launch to see if that helps.

[MartyG-RealSense]

Hi @Dikshith-Aethrone Do you require further assistance with this case, please? Thanks!