[BUG] {Solved unexpected shut down but getting left and right images makes FPS drop}RPi4 makes error unexpectedly

[HanDaSeul]

I'm using Raspberry Pi4 8GB, using OAK-D pro, ubuntu 20.04 with ros2 foxy with rmw_fastrtps and ust let it publish only three: left and right stereo compressed image, imu. Through WiFi, I can subscribe both image approximately 30FPS, imu to 100~200Hz. But, after the several minutes, all the published topics were gone and it seemed RPi4 loose all the connection like shuts down itself so that I couldn't even reconnect remote. I made sure there's no electrical problem, put all the things up to 3A, respectively(Pi to 3A, Oak-d pro to 3A using Y-shapped).

At the beginning:

After the several minutes:

[HanDaSeul]

Update. I think I solved unexpected shut down. I moved all the usb devices to the usb hub, so the only Oak-d pro and usb hub are connected, and that usb hub need to have additional power. It can keep more than 40 minutes. So, I made RPi consumes up to 3A, Oak-d consumes up to 3A, usb hub consumes up to 2A. That means up to a total of 8A. Intel t265 had same issue when I subscribe only pose data neither images or imu but I solved like that.

At the beginning with usb hub, started at 13:47 :

After the 40 minutes, at 14:29 :

Here's the one weird thing. Subscribing one single image can stream 30FPS or 40FPS when I modified yaml file. But whenever I get other side image, FPS drops slightly about 1 to 6. When I set 40FPS, FPS drops 10 to 20. Above screenshot is the case of 40FPS.

[HanDaSeul]

Closing this cause I guess this problem is releated to DDS or network problem, not to depthai. ROS noetic works nicely.