From 361e79e67c20d235fc66d2e976e7a47b5ade33eb Mon Sep 17 00:00:00 2001
From: Adam Serafin <adam.serafin@luxonis.com>
Date: Wed, 21 Feb 2024 16:33:01 +0100
Subject: [PATCH] No imu fix Iron (#501)

---
 README.md                                              | 2 +-
 depthai_ros_driver/src/pipeline/pipeline_generator.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 5ff260c3..de9b00c1 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
 # Depthai ROS Repository
 Hi and welcome to the main depthai-ros respository! Here you can find ROS related code for OAK cameras from Luxonis. Don't have one? You can get them [here!](https://shop.luxonis.com/)
 
-You can find the newest documentation [here](https://docs-beta.luxonis.com/develop/ros/depthai-ros-intro/).
\ No newline at end of file
+You can find the newest documentation [here](https://docs-beta.luxonis.com/software/ros/depthai-ros/intro/).
diff --git a/depthai_ros_driver/src/pipeline/pipeline_generator.cpp b/depthai_ros_driver/src/pipeline/pipeline_generator.cpp
index cc28adc1..b2bfe69d 100644
--- a/depthai_ros_driver/src/pipeline/pipeline_generator.cpp
+++ b/depthai_ros_driver/src/pipeline/pipeline_generator.cpp
@@ -38,7 +38,7 @@ std::vector<std::unique_ptr<dai_nodes::BaseNode>> PipelineGenerator::createPipel
     }
 
     if(enableImu) {
-        if(device->getConnectedIMU() == "NONE") {
+        if(device->getConnectedIMU() == "NONE" || device->getConnectedIMU().empty()){
             RCLCPP_WARN(node->get_logger(), "IMU enabled but not available!");
         } else {
             auto imu = std::make_unique<dai_nodes::Imu>("imu", node, pipeline, device);