Camera Model T265
Firmware Version 0.2.0.951
OS Linux Ubuntu 20.04LTS
Kernel Version 4.9.253
Platform NVIDIA Jetson
SDK Version 2.53.1
Languace C++
Segment Robot
We are using ROS2 to get streams from librealsense and publish them on topics. We tried to make two different nodes with a pipeline each (one from images and one for pose) and they work at the maximum frame rate but not simultaneously (we get No Device Connected Error on one of the nodes). If we use a single node and a single pipeline for both streams we get all the data but the rate is limited to ~60Hz. We have working C++ code at maximum rate with the callback function but this feature doesn't work under ROS2. How can we get both image and pose streams at maximum rate (200Hz for the pose and 30Hz for the images)?
