TF `camera_accel_gyro_optical_frame` is not being published for Femto Bolt and doesn't contain timestamp

[xaristeidou]

Camera: Orbbec Femto Bolt
SDK version: 1

When using enable_accel=true and enable_gyro=true and enable_sync_output_accel_gyro=true.

This will results to publish /camera/gyro_accel/sample topic which contain imu data.

The problem is that in that topic the camera_accel_gyro_optical_frame the frame_id: "camera_accel_gyro_optical_frame" is not being publish.

Also another problem is that it doesn't contain timestamp, it is always filled as 0 secs 0 nsecs.

[jjiszjj]

@xaristeidou Thank you for your feedback.
1.Regarding the frame_id: "camera_accel_gyro_optical_frame" is not being published in the /camera/gyro_accel/sample topic
You can try the latest Realsense version of OrbbecSDK_ROS1:https://github.com/orbbec/OrbbecSDK_ROS1/releases/tag/v2.2.4

2.It doesn't contain timestamp, it is always filled as 0 secs 0 nsecs
You can try to update the firmware of Femto_Bolt:https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware