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D-Robotics
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rdk-accessories

Bring up D-Robotics official cameras, IMU modules, and expansion boards on RDK kits.

3|Updated Aug 6, 2026
Search Tags:#ros2#imu#embedded hardware#gmsl#rdk#bmi088#mipi camera
One-click install
npx skills add https://github.com/D-Robotics/rdk-skills --skill rdk-accessories-d-robotics
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: rdk-accessories
Source: https://github.com/D-Robotics/rdk-skills/tree/main/skills/rdk-accessories
Command: npx skills add https://github.com/D-Robotics/rdk-skills --skill rdk-accessories-d-robotics

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill includes scripts (resource) and references (resource) and assets (resource) components.

What problem does it solve? Connecting D-Robotics official accessories (GS130W/GS130Wi binocular cameras, the RDK IMU Module, S100/S600 expansion boards) involves model-specific wiring orientations, two easily-confused IMU chips, and per-board support matrices that are easy to get wrong from memory — this Skill grounds every answer in the official documentation. ## Core Features & Use Cases - Accessory bring-up workflows: Step-by-step TROS launch procedures for GS130W/GS130Wi stereo cameras and C/Python/ROS2 SDK or IIO driver paths for the BMI088 IMU Module. - Compatibility and spec lookup: A deterministic script answers which accessory works on which board (X3/X5/S100/S600), what chip it contains, and what interface it uses. - Use Case: A developer asks whether the GS130Wi's built-in IMU is a BMI088; the Skill correctly identifies it as an ICM-42688-P over the right-eye MIPI shared I2C and routes them to the correct driver instead of the wrong one. ## Quick Start Ask the agent how to connect and read the RDK IMU Module on an RDK X5 board.

Frequently Asked Questions about rdk-accessories

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I connect and run the GS130W binocular camera on RDK X5?▼

Power off the board, insert both 22-pin FFC cables with contacts facing away from the PCB, then update TROS and launch mipi_cam_dual_channel.launch.py after sourcing /opt/tros/humble/setup.bash. A websocket launch file enables browser preview at port 8000.

How do I read the RDK IMU Module BMI088 on S100?▼

The module cannot plug directly into S100; jumper-wire its 40PIN I2C or SPI lines and use the official rdk-imu-module-sdk in C, Python, or ROS2. The IIO driver path is X5/X5 Module only, so do not use srpi-config on S100.

Is the GS130Wi built-in IMU a BMI088?▼

No, the GS130Wi integrates an InvenSense ICM-42688-P reached over the right-eye MIPI connector's shared I2C. The BMI088 is the separate standalone RDK IMU Module on the 40PIN header, and their drivers and registers differ.

Does the GS130W camera work on RDK X3?▼

No, GS130W and GS130Wi require dual MIPI interfaces while X3 and X3 Module provide only a single MIPI port. Supported boards are X5, X5 Module, S100/S100P via the Camera Expansion Board, and S600.

How many MIPI and GMSL ports does the S600 camera expansion board have?▼

The S600 Camera Expansion Board provides 8 GMSL ports via two MAX96712 deserializers and has no MIPI connectors. The S100 board is the mixed variant with 2 MIPI plus 4 GMSL, and the two boards are not interchangeable.

Why does the BMI088 SDK return invalid gyro data?▼

The BMI088 accelerometer and gyroscope are two independent unsynchronized devices, so each read must check the valid flags. Also verify the gyro interrupt GPIO chip and line match your board, since the defaults are X5-specific.

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