first VIO demo: global-shutter camera + IMU streamed over one GMSL2 coax, mapped live in ROS 2

<p></p><div class="lightbox-wrapper"><a class="lightbox" href="https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/f/4/f48c4aefa219ece294b0880ff1c85426a109e687.jpeg" rel="noopener nofollow ugc" title="2026-08-27 16.15.05"><img alt="2026-08-27 16.15.05" height="437" src="https://us1.discourse-cdn.com/flex022/uploads/ros/optimized/3X/f/4/f48c4aefa219ece294b0880ff1c85426a109e687_2_690x437.jpeg" width="690" /></a></div><p></p> <p>TL;DR: Nick is walking around the office holding our beautiful rig where a global-shutter camera + IMU share one GMSL2 coax for data and power, estimated in real time on a Jetson (ROS 2 + OpenVINS). Return-to-start after the ~25 m loop: 42 cm (~1.7 %).</p> <p>Hardware is our <a href="https://nxs.aliensense.com/?utm_source=ros-discourse&amp;utm_medium=community&amp;utm_campaign=vanguard-launch" rel="noopener nofollow ugc">NXS sensor module</a> (Sony IMX900 global shutter (72 fps native; 24 fps fed to the estimator), fixed exposure + IAM-20680 IMU @ 200 Hz, hardware-synchronized on the module) into an NXS Hub carrying the GMSL link to a Jetson Orin Nano. ROS 2 Humble, OpenVINS, kalibr calibration. No wheels, no markers, no prior map.</p> <p>Happy to answer you questions about the sync design, the single-cable setup, or the takes that didn’t survive.</p> <p><small>1 post - 1 participant</small></p> <p><a href="https://discourse.openrobotics.org/t/first-vio-demo-global-shutter-camera-imu-streamed-over-one-gmsl2-coax-mapped-live-in-ros-2/57700">Read full topic</a></p>