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Common Issues

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Camera Not Detected

# Check USB devices
lsusb

# Check permissions
sudo usermod -a -G dialout $USER

# Restart udev
sudo udevadm control --reload-rules

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Low Frame Rate

  • Reduce resolution
  • Check USB 3.0 connection
  • Disable unnecessary processing

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SLAM Lost Tracking

  • Improve lighting
  • Reduce motion speed
  • Enable IMU fusion
  • Check for feature-rich environment

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High CPU Usage

config = SensorConfig(
    rgb_width=640,
    rgb_height=480,
    fps=15
)

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Debug Tools

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Check Topics

python debug_topics.py

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Monitor Performance

# CPU usage
htop

# GPU usage
nvidia-smi

# Memory
free -h

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Getting Help