Frame didn't arrive within 15000

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Required Info
Camera Model	D400
Firmware Version	5.15.1
Operating System & Version	Linux Ubunu 22.04 LTS
Kernel Version (Linux Only)	5.15.0-1049-raspi
Platform	Raspberry Pi4 4GB
SDK Version	2.54.2
Language	C++
Segment	Robot

Issue Description

I am currently working on a robot running a raspberry Pi4 with Ubuntu 22.04. I am trying to set up a camera stream from the robot to a server using ROS2 Humble. I am not yet using the depth camera module

I had everything working but at some point the camera started disconnecting once the program was stopped and restarted, saying:

Segmentation Fault

This to me indicates that there is something wrong with the driver installation, but for the life of me I could not figure it out. I was experiencing some other issues aswell which led me to the decision to reinstall everything from scratch. I had reinstalled everything to get a fresh start to to speak. When I tried running the code, everything seemed to work fine for about 30 seconds to a minute, with the following text appearing on the screen:

[INFO] [1712155774.684152821] [FFMPEGEncoder]: enc: libx264 prof:  preset:
[INFO] [1712155774.684362816] [FFMPEGEncoder]: qmax: 10 bitrate: 8242880 gop: 15

Then the stream froze and I got an error message on the raspberry pi saying:

terminate called after throwing an instance of 'rs2::error
what():  Frame didn't arrive within 15000

Now I have looked through many issues here but I cant seem to find any solution that works for me, any help with this would be appreciated

This is the code i have been running the entire time. A friend suggested that a the framebuffers from the depth module might be overflowing and stopping all other modules, but I doubt that this might be the case

#include "cv_bridge/cv_bridge.h"
#include "image_transport/image_transport.hpp"
#include "opencv2/core/mat.hpp"
#include "rclcpp/rclcpp.hpp"
#include <librealsense2/rs.hpp>

int main(int argc, char ** argv)
{
    rclcpp::init(argc, argv);
    rclcpp::NodeOptions options;
    auto node = rclcpp::Node::make_shared("image_publisher", options);
    image_transport::ImageTransport it(node);
    auto pub = it.advertise("camera/image", 1);

    // Open color camera
    rs2::pipeline pipe;
    rs2::config cfg;
    cfg.enable_stream(RS2_STREAM_COLOR, 1280, 720, RS2_FORMAT_BGR8, 30);
    pipe.start(cfg);

    cv::Mat frame;

    rclcpp::WallRate loop_rate(30);
    while (rclcpp::ok()) {
        // Wait for the next set of frames
        auto frames = pipe.wait_for_frames();

        // Get RGB frame
        rs2::video_frame rgb_frame = frames.get_color_frame();

        // Convert RealSense frame to OpenCV Mat
        frame = cv::Mat(cv::Size(1280, 720), CV_8UC3, (void*)rgb_frame.get_data(), cv::Mat::AUTO_STEP);

        auto msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", frame).toImageMsg();
        pub.publish(msg);

        rclcpp::spin_some(node);
        loop_rate.sleep();
    }

    rclcpp::shutdown();
    return 0;
}

IntelRealSense / librealsense

Frame didn't arrive within 15000 #12823

Issue Description