Using isaac_ros_visual_slam on a UAV

Hi!
I have the following setup

• Intel Realsense D455 camera (firmware is updated), and using realsense-ros 4.51.1
• Jetson Xavier NX with SSD and with 8GB RAM at mode (20W 6 CORE)
• A quadcopter
• The D455 is rigidly mounted on the quadcopter and facing front
• I need to get the depth and color images for some object detection (using Yolov8) and localization (using depth), in addition to the infra1/2 for VSLAM

I managed to run the VSLAM with realsense on Jetson Xavier NX. With relatively slow motion (quadcopter is not flying, but I move it by hand for testing), the odom is fine. When I start to move the quadcopter (by hand) faster, I start to get Tracker lost frequently although I am moving in feature-rich environment .

*I get the following terminal output

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-05-30-15-22-53-443574-ubuntu-30521
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [30532]
[INFO] [realsense2_camera_node-2]: process started with pid [30534]
[component_container-1] [INFO] [1685449374.589500580] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[realsense2_camera_node-2] [INFO] [1685449375.268323481] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-2] [INFO] [1685449375.269560042] [camera.camera]: Built with LibRealSense v2.53.1
[realsense2_camera_node-2] [INFO] [1685449375.269683084] [camera.camera]: Running with LibRealSense v2.53.1
[component_container-1] [INFO] [1685449375.310327614] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1685449375.315995245] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1685449375.774189843] [visual_slam_node]: cuVSLAM version: 11.0
[realsense2_camera_node-2] [INFO] [1685449376.351750606] [camera.camera]: Device with serial number 207322250752 was found.
[realsense2_camera_node-2] 
[realsense2_camera_node-2] [INFO] [1685449376.352935711] [camera.camera]: Device with physical ID 2-3.4-3 was found.
[realsense2_camera_node-2] [INFO] [1685449376.353058336] [camera.camera]: Device with name Intel RealSense D455 was found.
[realsense2_camera_node-2] [INFO] [1685449376.354654454] [camera.camera]: Device with port number 2-3.4 was found.
[realsense2_camera_node-2] [INFO] [1685449376.354764344] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-2] [INFO] [1685449376.463697372] [camera.camera]: getParameters...
[realsense2_camera_node-2] [INFO] [1685449376.482594849] [camera.camera]: JSON file is not provided
[realsense2_camera_node-2] [INFO] [1685449376.487211201] [camera.camera]: Device Name: Intel RealSense D455
[realsense2_camera_node-2] [INFO] [1685449376.489785605] [camera.camera]: Device Serial No: 207322250752
[realsense2_camera_node-2] [INFO] [1685449376.492092389] [camera.camera]: Device physical port: 2-3.4-3
[realsense2_camera_node-2] [INFO] [1685449376.494420645] [camera.camera]: Device FW version: 05.14.00.00
[realsense2_camera_node-2] [INFO] [1685449376.496469441] [camera.camera]: Device Product ID: 0x0B5C
[realsense2_camera_node-2] [INFO] [1685449376.498685600] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-2] [WARN] [1685449381.825816596] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-2] [WARN] [1685449384.081378417] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-2] [INFO] [1685449384.297285215] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1685449384.800192530] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1685449385.322523250] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 640, Height: 360, FPS: 90
[realsense2_camera_node-2] [INFO] [1685449385.322735413] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 640, Height: 360, FPS: 90
[realsense2_camera_node-2] [INFO] [1685449385.322942968] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-2] [INFO] [1685449385.432701192] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-2] [INFO] [1685449385.548169766] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-2] [INFO] [1685449385.548375017] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-2] [INFO] [1685449385.580145089] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-2] [WARN] [1685449385.588349747] [camera.camera]: 
[realsense2_camera_node-2] [WARN] [1685449385.821399918] [camera.camera]: XXX Hardware Notification:Motion Module failure,1.68545e+12,Error,Hardware Error
[realsense2_camera_node-2] [WARN] [1685449385.821707218] [camera.camera]: Hardware Notification:Motion Module failure,1.68545e+12,Error,Hardware Error
[component_container-1] [INFO] [1685449387.060717654] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 11.286359
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container-1] [INFO] [1685449387.342580981] [visual_slam_node]: left_pose_right reading from CameraInfo
[component_container-1] [INFO] [1685449387.342735415] [visual_slam_node]: Baseline is : 0.095124
[component_container-1] [INFO] [1685449387.342809816] [visual_slam_node]: left_camera_pose_imu reading from TF Tree
[component_container-1] [INFO] [1685449387.343780742] [visual_slam_node]: Use use_gpu: true
[component_container-1] [INFO] [1685449387.343893831] [visual_slam_node]: Enable IMU Fusion: true
[component_container-1] [INFO] [1685449387.343958152] [visual_slam_node]: gyroscope_noise_density: 0.000244
[component_container-1] [INFO] [1685449387.344023945] [visual_slam_node]: gyroscope_random_walk: 0.000019
[component_container-1] [INFO] [1685449387.344077642] [visual_slam_node]: accelerometer_noise_density: 0.001862
[component_container-1] [INFO] [1685449387.344129611] [visual_slam_node]: accelerometer_random_walk: 0.003000
[component_container-1] [INFO] [1685449387.344195851] [visual_slam_node]: frequency: 200.000000
[component_container-1] [INFO] [1685449387.615445015] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 0.271186
[component_container-1] [WARN] [1685449389.411415293] [visual_slam_node]: Delta between current and previous frame [229.858560] is above threshold [22.000000]
[component_container-1] [WARN] [1685449389.422269267] [visual_slam_node]: Delta between current and previous frame [38.156288] is above threshold [22.000000]
[component_container-1] [WARN] [1685449389.431825016] [visual_slam_node]: Delta between current and previous frame [28.263680] is above threshold [22.000000]
[component_container-1] [WARN] [1685449389.569839535] [visual_slam_node]: Delta between current and previous frame [27.152384] is above threshold [22.000000]
[component_container-1] [WARN] [1685449389.788513539] [visual_slam_node]: Delta between current and previous frame [67.690752] is above threshold [22.000000]
[component_container-1] [WARN] [1685449389.817772856] [visual_slam_node]: Delta between current and previous frame [24.525312] is above threshold [22.000000]
[component_container-1] [WARN] [1685449389.830116419] [visual_slam_node]: Delta between current and previous frame [24.222208] is above threshold [22.000000]
[component_container-1] [WARN] [1685449390.146256477] [visual_slam_node]: Delta between current and previous frame [33.611264] is above threshold [22.000000]
[component_container-1] [WARN] [1685449390.202527176] [visual_slam_node]: Delta between current and previous frame [33.532416] is above threshold [22.000000]
[component_container-1] [WARN] [1685449390.345376835] [visual_slam_node]: Delta between current and previous frame [33.433856] is above threshold [22.000000]
[component_container-1] [WARN] [1685449390.820191314] [visual_slam_node]: Delta between current and previous frame [66.226432] is above threshold [22.000000]
[component_container-1] [WARN] [1685449390.869894338] [visual_slam_node]: Delta between current and previous frame [33.049088] is above threshold [22.000000]
[component_container-1] [WARN] [1685449391.274337123] [visual_slam_node]: Delta between current and previous frame [32.190720] is above threshold [22.000000]
[component_container-1] [WARN] [1685449391.322290747] [visual_slam_node]: Delta between current and previous frame [32.064768] is above threshold [22.000000]
[component_container-1] [WARN] [1685449391.526974158] [visual_slam_node]: Delta between current and previous frame [31.739648] is above threshold [22.000000]
[component_container-1] [WARN] [1685449391.951250754] [visual_slam_node]: Delta between current and previous frame [31.214848] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.096148216] [visual_slam_node]: Delta between current and previous frame [28.270848] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.128346166] [visual_slam_node]: Delta between current and previous frame [33.275904] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.285215283] [visual_slam_node]: Delta between current and previous frame [44.355328] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.350777695] [visual_slam_node]: Delta between current and previous frame [44.349184] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.430448398] [visual_slam_node]: Delta between current and previous frame [77.590784] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.453363115] [visual_slam_node]: Delta between current and previous frame [44.330496] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.486460054] [visual_slam_node]: Delta between current and previous frame [66.486016] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.567021585] [visual_slam_node]: Delta between current and previous frame [33.234944] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.699818465] [visual_slam_node]: Delta between current and previous frame [110.741760] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.707982482] [visual_slam_node]: Delta between current and previous frame [66.432512] is above threshold [22.000000]
[component_container-1] [WARN] [1685449392.968267910] [visual_slam_node]: Delta between current and previous frame [33.360128] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.110582457] [visual_slam_node]: Delta between current and previous frame [33.363456] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.155044705] [visual_slam_node]: Delta between current and previous frame [44.486144] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.264281322] [visual_slam_node]: Delta between current and previous frame [44.487680] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.287526092] [visual_slam_node]: Delta between current and previous frame [55.611904] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.599795057] [visual_slam_node]: Delta between current and previous frame [33.372160] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.629718991] [visual_slam_node]: Delta between current and previous frame [33.373184] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.641403537] [visual_slam_node]: Delta between current and previous frame [44.497920] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.662714968] [visual_slam_node]: Delta between current and previous frame [44.283136] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.823623180] [visual_slam_node]: Delta between current and previous frame [78.133248] is above threshold [22.000000]
[component_container-1] [WARN] [1685449393.833262386] [visual_slam_node]: Delta between current and previous frame [33.491712] is above threshold [22.000000]
[component_container-1] [WARN] [1685449394.704144367] [visual_slam_node]: Delta between current and previous frame [33.568000] is above threshold [22.000000]
[component_container-1] [WARN] [1685449394.800421445] [visual_slam_node]: Delta between current and previous frame [33.524992] is above threshold [22.000000]
[component_container-1] [WARN] [1685449394.888218629] [visual_slam_node]: Delta between current and previous frame [55.708928] is above threshold [22.000000]
[component_container-1] [WARN] [1685449394.944267245] [visual_slam_node]: Delta between current and previous frame [33.426944] is above threshold [22.000000]
[component_container-1] [WARN] [1685449395.175671826] [visual_slam_node]: Delta between current and previous frame [33.432320] is above threshold [22.000000]
[component_container-1] [WARN] [1685449395.703764228] [visual_slam_node]: Delta between current and previous frame [55.646208] is above threshold [22.000000]
[component_container-1] [WARN] [1685449395.984347538] [visual_slam_node]: Delta between current and previous frame [33.392640] is above threshold [22.000000]
[component_container-1] [WARN] [1685449396.295631466] [visual_slam_node]: Delta between current and previous frame [44.527616] is above threshold [22.000000]
[component_container-1] [WARN] [1685449396.509855553] [visual_slam_node]: Delta between current and previous frame [33.398528] is above threshold [22.000000]
[component_container-1] [WARN] [1685449396.516908611] [visual_slam_node]: Delta between current and previous frame [66.798336] is above threshold [22.000000]
[component_container-1] [WARN] [1685449396.659878623] [visual_slam_node]: Delta between current and previous frame [33.374464] is above threshold [22.000000]
[component_container-1] [WARN] [1685449396.733231927] [visual_slam_node]: Delta between current and previous frame [33.374976] is above threshold [22.000000]
[component_container-1] [WARN] [1685449397.565449854] [visual_slam_node]: Delta between current and previous frame [33.392384] is above threshold [22.000000]
[component_container-1] [WARN] [1685449397.779583604] [visual_slam_node]: Delta between current and previous frame [33.393152] is above threshold [22.000000]

So, what could be the issue, and how to solve it to get reliable odometry?

Thank you.