[BUG] {Low and drop in FPS and unsynchronized}

[Shivam7Sharma]

Check if issue already exists

• Google it (e.g. error xy github luxonis depthai)
• Check troubleshooting in documentation.

As far as I know, the issue doesn't exist in the forum or on Github. I asked this on the forum, but no one replied with a solution there.

Describe the bug A clear and concise description of what the bug is.

There is a drop in fps in ROS 2 camera image topics. After some time, left and right rectified images get unsynchronized, even though I have set the rectified stereo pair to be synchronized in the camera.yaml (i_publish_synced_rect_pair: true). In ROS 2, the fps starts at around 30 and then drops slowly to low values. I also tried the ROS 1 noetic Docker container, and in that case, the fps starts at 10 and is unsynchronized for the rectified pair. I have set i_fps to 90 and i_usb_speed to SUPER_PLUS, but still, the fps are less in ROS2 and ROS 1. Yes, I edited the camera.yaml to make it work with ROS 1 and ROS 2. Also, in the terminal output, I can see that the USB speed is SUPER, even though I have set it to SUPER_PLUS. I didn't yet use the depthai ROS 2 Docker container; I installed the ROS2 workspace from source on my Jetson Orin.

Minimal Reproducible Example Append the MRE to the bug report, instructions here

If available launch files don't work in your case, please check if you also get errors while running:

• stereo_inertial_node in depthai_examples
• camera in depthai_ros_driver
• In case both fail to run, please check if you can run the default python demo app

I am running the camera.launch.py launch file in both the stereo and depth pipelines, but I have the same problem in both, although there is no option to get synchronized rectified pairs in the stereo pipeline. I am not using depthai_examples because @jakaskerl told me not to use it. The cam_test.py is working, and it shows 30 fps in the terminal.

Expected behavior A clear and concise description of what you expected to happen.

The fps should be atleast 30 and even more when I set it to 90 on SUPER_PLUS usb speed.

Screenshots If applicable, add screenshots to help explain your problem.

Pipeline Graph

Please also provide a screenshot of your pipeline using the DepthAI Pipeline Graph.

You can save it in depthai_ros_driver, either by calling /save_pipeline ROS service, or by setting parameter camera.i_pipeline_dump in ROS 2 or camera_i_pipeline_dump in ROS. Pipeline dump is saved to /tmp/pipeline.json.

I am not sure if the pipeline graph is required or not, but I will try to get it and paste it here later on when I get the ros 2 driver working.

Attach system log

• Provide output of log_system_information.py

• log_system_information.json

• Which OS/OS version are you using?

• Jetpack 6 ubuntu 22.04

• Which ROS version are you using?

• 2 on host and 1 in docker

• Which ROS distribution are you using?

• Humble and noetic

• Is depthai-ros built from source or installed from apt?

• From source and it stopped working for some reason now. Only the docker noetic version is working.

• Is depthai/depthai-core library installed from rosdep or manually? For rosdep install, check if ros-<rosdistro>-depthai package is installed, manual install can be checked with ldconfig -p | grep depthai

• It was installed from the dependencies, not from source.

• Please include versions of following packages - apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver

shivam157@ubuntu:~/depthai$ apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver
Package: ros-humble-depthai
Version: 2.26.1-1jammy.20240612.131125
Priority: optional
Section: misc
Maintainer: Adam Serafin <adam.serafin@luxonis.com>
Installed-Size: 21.1 MB
Depends: libc6 (>= 2.34), libgcc-s1 (>= 4.5), libopencv-core4.5d (>= 4.5.4+dfsg), libopencv-imgproc4.5d (>= 4.5.4+dfsg), libstdc++6 (>= 12), libopencv-dev, libusb-1.0-0-dev, nlohmann-json3-dev, ros-humble-ros-workspace
Homepage: https://www.luxonis.com/
Download-Size: 11.0 MB
APT-Manual-Installed: yes
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main arm64 Packages
Description: DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform

Package: ros-humble-depthai-ros
Version: 2.9.0-1jammy.20240612.150543
Priority: optional
Section: misc
Maintainer: sachin <sachin@luxonis.com>
Installed-Size: 43.0 kB
Depends: ros-humble-depthai, ros-humble-depthai-bridge, ros-humble-depthai-descriptions, ros-humble-depthai-examples, ros-humble-depthai-filters, ros-humble-depthai-ros-driver, ros-humble-depthai-ros-msgs, ros-humble-ros-workspace
Download-Size: 6,288 B
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main arm64 Packages
Description: The depthai-ros package

Package: ros-humble-depthai-bridge
Version: 2.9.0-1jammy.20240612.141551
Priority: optional
Section: misc
Maintainer: Sachin Guruswamy <sachin@luxonis.com>
Installed-Size: 426 kB
Depends: libc6 (>= 2.32), libgcc-s1 (>= 3.3.1), libopencv-calib3d4.5d (>= 4.5.4+dfsg), libopencv-core4.5d (>= 4.5.4+dfsg), libopencv-imgcodecs4.5d (>= 4.5.4+dfsg), libopencv-imgproc4.5d (>= 4.5.4+dfsg), libstdc++6 (>= 11), libboost-dev, libopencv-dev, ros-humble-camera-info-manager, ros-humble-composition-interfaces, ros-humble-cv-bridge, ros-humble-depthai, ros-humble-depthai-ros-msgs, ros-humble-image-transport, ros-humble-rclcpp, ros-humble-robot-state-publisher, ros-humble-ros-environment, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-stereo-msgs, ros-humble-tf2, ros-humble-tf2-geometry-msgs, ros-humble-tf2-ros, ros-humble-vision-msgs, ros-humble-xacro, ros-humble-ros-workspace
Download-Size: 122 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main arm64 Packages
Description: The depthai_bridge package

Package: ros-humble-depthai-ros-msgs
Version: 2.9.0-1jammy.20240524.032608
Priority: optional
Section: misc
Maintainer: Sachin Guruswamy <sachin@luxonis.com>
Installed-Size: 1,675 kB
Depends: libc6 (>= 2.17), libgcc-s1 (>= 3.3.1), libpython3.10 (>= 3.10.0), libstdc++6 (>= 11), ros-humble-fastcdr, ros-humble-builtin-interfaces, ros-humble-geometry-msgs, ros-humble-rclcpp, ros-humble-rosidl-default-generators, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-vision-msgs, ros-humble-ros-workspace
Download-Size: 127 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main arm64 Packages
Description: Package to keep interface independent of the driver

Package: ros-humble-depthai-ros-driver
Version: 2.9.0-1jammy.20240612.145155
Priority: optional
Section: misc
Maintainer: Adam Serafin <adam.serafin@luxonis.com>
Installed-Size: 2,554 kB
Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libopencv-core4.5d (>= 4.5.4+dfsg), libopencv-imgproc4.5d (>= 4.5.4+dfsg), libstdc++6 (>= 12), libtinyxml2-9 (>= 8.0.0), ros-humble-ament-cmake-auto, ros-humble-camera-calibration, ros-humble-cv-bridge, ros-humble-depthai, ros-humble-depthai-bridge, ros-humble-depthai-descriptions, ros-humble-depthai-examples, ros-humble-depthai-ros-msgs, ros-humble-diagnostic-msgs, ros-humble-diagnostic-updater, ros-humble-image-pipeline, ros-humble-image-transport, ros-humble-image-transport-plugins, ros-humble-pluginlib, ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-std-srvs, ros-humble-vision-msgs, ros-humble-ros-workspace
Download-Size: 570 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main arm64 Packages
Description: Depthai ROS Monolithic node.

shivam157@ubuntu:~/depthai$ 

• To get additional logs, set DEPTHAI_DEBUG=1 and paste the logs, either from command line or from latest log in ~/.ros/log

I have roslaunch logs, do you need rosout log or master log and :

root@ubuntu:~/.ros/log/latest# cat roslaunch-ubuntu-1.log 
[roslaunch][INFO] 2024-07-02 17:19:52,633: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2024-07-02 17:19:52,641: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2024-07-02 17:19:52,642: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'depthai_ros_driver', 'camera.launch', 'params_file:=/params/camera.yaml', 'DEPTHAI_DEBUG:=1']
[roslaunch][INFO] 2024-07-02 17:19:52,642: roslaunch env is environ({'ROS_VERSION': '1', 'WS': '/ws', 'PKG_CONFIG_PATH': '/ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'ubuntu', 'ROS_PACKAGE_PATH': '/ws/src/depthai-ros/depthai-ros:/ws/src/depthai-ros/depthai_descriptions:/ws/src/depthai-ros/depthai_ros_msgs:/ws/src/depthai-ros/depthai_bridge:/ws/src/depthai-ros/depthai_examples:/ws/src/depthai-ros/depthai_filters:/ws/src/depthai-ros/depthai_ros_driver:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/ws/devel/share/common-lisp', 'PWD': '/', 'HOME': '/root', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'CMAKE_PREFIX_PATH': '/ws/devel:/opt/ros/noetic', 'PYTHONPATH': '/ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'DISPLAY': ':5.0', 'SHLVL': '0', 'ROS_MASTER_URI': 'http://localhost:11311', 'LD_LIBRARY_PATH': '/ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu', 'LC_ALL': 'C.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'DEBIAN_FRONTEND': 'dialog', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'ROS_LOG_FILENAME': '/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/roslaunch-ubuntu-1.log'})
[roslaunch][INFO] 2024-07-02 17:19:52,642: starting in server mode
[roslaunch.parent][INFO] 2024-07-02 17:19:52,642: starting roslaunch parent run
[roslaunch][INFO] 2024-07-02 17:19:52,643: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml
[roslaunch][INFO] 2024-07-02 17:19:52,917: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2024-07-02 17:19:52,918: loading config file /ws/src/depthai-ros/depthai_ros_driver/launch/camera.launch
[roslaunch][INFO] 2024-07-02 17:19:53,567: Added node of type [robot_state_publisher/robot_state_publisher] in namespace [/]
[roslaunch][INFO] 2024-07-02 17:19:53,568: Added node of type [nodelet/nodelet] in namespace [/]
[roslaunch][INFO] 2024-07-02 17:19:53,569: Added node of type [nodelet/nodelet] in namespace [/]
[roslaunch][INFO] 2024-07-02 17:19:53,569: ... selected machine [] for node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2024-07-02 17:19:53,569: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch][INFO] 2024-07-02 17:19:53,570: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch.pmon][INFO] 2024-07-02 17:19:53,573: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2024-07-02 17:19:53,574: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2024-07-02 17:19:53,574: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2024-07-02 17:19:53,574: starting parent XML-RPC server
[roslaunch.server][INFO] 2024-07-02 17:19:53,575: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2024-07-02 17:19:53,575: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2024-07-02 17:19:53,575: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2024-07-02 17:19:53,576: Started XML-RPC server [http://ubuntu:44969/]
[xmlrpc][INFO] 2024-07-02 17:19:53,577: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2024-07-02 17:19:53,590: started roslaunch server http://ubuntu:44969/
[roslaunch.parent][INFO] 2024-07-02 17:19:53,591: ... parent XML-RPC server started
[roslaunch][INFO] 2024-07-02 17:19:53,591: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:53,592: auto-starting new master
[roslaunch][INFO] 2024-07-02 17:19:53,593: create_master_process: rosmaster, /opt/ros/noetic/share/ros, 11311, 3, None, False
[roslaunch][INFO] 2024-07-02 17:19:53,593: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2024-07-02 17:19:53,593: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2024-07-02 17:19:53,593: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2024-07-02 17:19:53,593: process[master]: starting os process
[roslaunch][INFO] 2024-07-02 17:19:53,594: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/master.log']]
[roslaunch][INFO] 2024-07-02 17:19:53,594: process[master]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-07-02 17:19:53,606: process[master]: started with pid [52]
[roslaunch][INFO] 2024-07-02 17:19:53,606: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:53,707: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:53,809: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:53,910: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,011: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,112: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,117: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,119: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2024-07-02 17:19:54,122: setting /run_id to 4b436cee-3897-11ef-84ef-1cce51f6c4df
[roslaunch][INFO] 2024-07-02 17:19:54,124: setting /roslaunch/uris/host_ubuntu__44969' to http://ubuntu:44969/
[roslaunch][INFO] 2024-07-02 17:19:54,127: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2024-07-02 17:19:54,128: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,128: process[rosout-1]: env[{'ROS_VERSION': '1', 'WS': '/ws', 'PKG_CONFIG_PATH': '/ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'ubuntu', 'ROS_PACKAGE_PATH': '/ws/src/depthai-ros/depthai-ros:/ws/src/depthai-ros/depthai_descriptions:/ws/src/depthai-ros/depthai_ros_msgs:/ws/src/depthai-ros/depthai_bridge:/ws/src/depthai-ros/depthai_examples:/ws/src/depthai-ros/depthai_filters:/ws/src/depthai-ros/depthai_ros_driver:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/ws/devel/share/common-lisp', 'PWD': '/', 'HOME': '/root', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'CMAKE_PREFIX_PATH': '/ws/devel:/opt/ros/noetic', 'PYTHONPATH': '/ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'DISPLAY': ':5.0', 'SHLVL': '0', 'ROS_MASTER_URI': 'http://localhost:11311', 'LD_LIBRARY_PATH': '/ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu', 'LC_ALL': 'C.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'DEBIAN_FRONTEND': 'dialog', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'ROS_LOG_FILENAME': '/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/roslaunch-ubuntu-1.log'}]
[roslaunch][INFO] 2024-07-02 17:19:54,191: process[rosout-1]: args[['/opt/ros/noetic/lib/rosout/rosout', '__name:=rosout']]
[roslaunch][INFO] 2024-07-02 17:19:54,192: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,192: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,192: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2024-07-02 17:19:54,192: ... registered process [rosout-1]
[roslaunch][INFO] 2024-07-02 17:19:54,193: process[rosout-1]: starting os process
[roslaunch][INFO] 2024-07-02 17:19:54,193: process[rosout-1]: start w/ args [['/opt/ros/noetic/lib/rosout/rosout', '__name:=rosout', '__log:=/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/rosout-1.log']]
[roslaunch][INFO] 2024-07-02 17:19:54,193: process[rosout-1]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-07-02 17:19:54,203: process[rosout-1]: started with pid [62]
[roslaunch][INFO] 2024-07-02 17:19:54,203: ... successfully launched [rosout-1]
[roslaunch][INFO] 2024-07-02 17:19:54,204: load_parameters starting ...
[roslaunch][INFO] 2024-07-02 17:19:54,226: ... load_parameters complete
[roslaunch][INFO] 2024-07-02 17:19:54,227: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2024-07-02 17:19:54,227: ... preparing to launch node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2024-07-02 17:19:54,227: create_node_process: package[robot_state_publisher] type[robot_state_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,228: process[oak_state_publisher-2]: env[{'ROS_VERSION': '1', 'WS': '/ws', 'PKG_CONFIG_PATH': '/ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'ubuntu', 'ROS_PACKAGE_PATH': '/ws/src/depthai-ros/depthai-ros:/ws/src/depthai-ros/depthai_descriptions:/ws/src/depthai-ros/depthai_ros_msgs:/ws/src/depthai-ros/depthai_bridge:/ws/src/depthai-ros/depthai_examples:/ws/src/depthai-ros/depthai_filters:/ws/src/depthai-ros/depthai_ros_driver:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/ws/devel/share/common-lisp', 'PWD': '/', 'HOME': '/root', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'CMAKE_PREFIX_PATH': '/ws/devel:/opt/ros/noetic', 'PYTHONPATH': '/ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'DISPLAY': ':5.0', 'SHLVL': '0', 'ROS_MASTER_URI': 'http://localhost:11311', 'LD_LIBRARY_PATH': '/ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu', 'LC_ALL': 'C.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'DEBIAN_FRONTEND': 'dialog', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'ROS_LOG_FILENAME': '/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/roslaunch-ubuntu-1.log'}]
[roslaunch][INFO] 2024-07-02 17:19:54,233: process[oak_state_publisher-2]: args[['/opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher', 'robot_description:=oak/robot_description', '__name:=oak_state_publisher']]
[roslaunch][INFO] 2024-07-02 17:19:54,233: ... created process [oak_state_publisher-2]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,233: ProcessMonitor.register[oak_state_publisher-2]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,233: ProcessMonitor.register[oak_state_publisher-2] complete
[roslaunch][INFO] 2024-07-02 17:19:54,234: ... registered process [oak_state_publisher-2]
[roslaunch][INFO] 2024-07-02 17:19:54,234: process[oak_state_publisher-2]: starting os process
[roslaunch][INFO] 2024-07-02 17:19:54,234: process[oak_state_publisher-2]: start w/ args [['/opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher', 'robot_description:=oak/robot_description', '__name:=oak_state_publisher', '__log:=/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/oak_state_publisher-2.log']]
[roslaunch][INFO] 2024-07-02 17:19:54,234: process[oak_state_publisher-2]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-07-02 17:19:54,244: process[oak_state_publisher-2]: started with pid [65]
[roslaunch][INFO] 2024-07-02 17:19:54,245: ... successfully launched [oak_state_publisher-2]
[roslaunch][INFO] 2024-07-02 17:19:54,245: ... preparing to launch node of type [nodelet/nodelet]
[roslaunch][INFO] 2024-07-02 17:19:54,245: create_node_process: package[nodelet] type[nodelet] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,246: process[oak_nodelet_manager-3]: env[{'ROS_VERSION': '1', 'WS': '/ws', 'PKG_CONFIG_PATH': '/ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'ubuntu', 'ROS_PACKAGE_PATH': '/ws/src/depthai-ros/depthai-ros:/ws/src/depthai-ros/depthai_descriptions:/ws/src/depthai-ros/depthai_ros_msgs:/ws/src/depthai-ros/depthai_bridge:/ws/src/depthai-ros/depthai_examples:/ws/src/depthai-ros/depthai_filters:/ws/src/depthai-ros/depthai_ros_driver:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/ws/devel/share/common-lisp', 'PWD': '/', 'HOME': '/root', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'CMAKE_PREFIX_PATH': '/ws/devel:/opt/ros/noetic', 'PYTHONPATH': '/ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'DISPLAY': ':5.0', 'SHLVL': '0', 'ROS_MASTER_URI': 'http://localhost:11311', 'LD_LIBRARY_PATH': '/ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu', 'LC_ALL': 'C.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'DEBIAN_FRONTEND': 'dialog', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'ROS_LOG_FILENAME': '/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/roslaunch-ubuntu-1.log'}]
[roslaunch][INFO] 2024-07-02 17:19:54,249: process[oak_nodelet_manager-3]: args[['/opt/ros/noetic/lib/nodelet/nodelet', 'manager', '/nodelet_manager/load_nodelet:=oak/nodelet_manager/load_nodelet', '/nodelet_manager/unload_nodelet:=oak/nodelet_manager/unload_nodelet', '/nodelet_manager/list:=oak/nodelet_manager/list', '__name:=oak_nodelet_manager']]
[roslaunch][INFO] 2024-07-02 17:19:54,250: ... created process [oak_nodelet_manager-3]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,250: ProcessMonitor.register[oak_nodelet_manager-3]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,250: ProcessMonitor.register[oak_nodelet_manager-3] complete
[roslaunch][INFO] 2024-07-02 17:19:54,250: ... registered process [oak_nodelet_manager-3]
[roslaunch][INFO] 2024-07-02 17:19:54,250: process[oak_nodelet_manager-3]: starting os process
[roslaunch][INFO] 2024-07-02 17:19:54,250: process[oak_nodelet_manager-3]: start w/ args [['/opt/ros/noetic/lib/nodelet/nodelet', 'manager', '/nodelet_manager/load_nodelet:=oak/nodelet_manager/load_nodelet', '/nodelet_manager/unload_nodelet:=oak/nodelet_manager/unload_nodelet', '/nodelet_manager/list:=oak/nodelet_manager/list', '__name:=oak_nodelet_manager', '__log:=/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/oak_nodelet_manager-3.log']]
[roslaunch][INFO] 2024-07-02 17:19:54,251: process[oak_nodelet_manager-3]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-07-02 17:19:54,260: process[oak_nodelet_manager-3]: started with pid [70]
[roslaunch][INFO] 2024-07-02 17:19:54,261: ... successfully launched [oak_nodelet_manager-3]
[roslaunch][INFO] 2024-07-02 17:19:54,261: ... preparing to launch node of type [nodelet/nodelet]
[roslaunch][INFO] 2024-07-02 17:19:54,262: create_node_process: package[nodelet] type[nodelet] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-07-02 17:19:54,262: process[oak-4]: env[{'ROS_VERSION': '1', 'WS': '/ws', 'PKG_CONFIG_PATH': '/ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'ubuntu', 'ROS_PACKAGE_PATH': '/ws/src/depthai-ros/depthai-ros:/ws/src/depthai-ros/depthai_descriptions:/ws/src/depthai-ros/depthai_ros_msgs:/ws/src/depthai-ros/depthai_bridge:/ws/src/depthai-ros/depthai_examples:/ws/src/depthai-ros/depthai_filters:/ws/src/depthai-ros/depthai_ros_driver:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/ws/devel/share/common-lisp', 'PWD': '/', 'HOME': '/root', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'CMAKE_PREFIX_PATH': '/ws/devel:/opt/ros/noetic', 'PYTHONPATH': '/ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'DISPLAY': ':5.0', 'SHLVL': '0', 'ROS_MASTER_URI': 'http://localhost:11311', 'LD_LIBRARY_PATH': '/ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu', 'LC_ALL': 'C.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'DEBIAN_FRONTEND': 'dialog', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'ROS_LOG_FILENAME': '/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/roslaunch-ubuntu-1.log'}]
[roslaunch][INFO] 2024-07-02 17:19:54,264: process[oak-4]: args[['/opt/ros/noetic/lib/nodelet/nodelet', 'load', 'depthai_ros_driver/Camera', 'oak_nodelet_manager', '__name:=oak']]
[roslaunch][INFO] 2024-07-02 17:19:54,264: ... created process [oak-4]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,264: ProcessMonitor.register[oak-4]
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,264: ProcessMonitor.register[oak-4] complete
[roslaunch][INFO] 2024-07-02 17:19:54,264: ... registered process [oak-4]
[roslaunch][INFO] 2024-07-02 17:19:54,265: process[oak-4]: starting os process
[roslaunch][INFO] 2024-07-02 17:19:54,265: process[oak-4]: start w/ args [['/opt/ros/noetic/lib/nodelet/nodelet', 'load', 'depthai_ros_driver/Camera', 'oak_nodelet_manager', '__name:=oak', '__log:=/root/.ros/log/4b436cee-3897-11ef-84ef-1cce51f6c4df/oak-4.log']]
[roslaunch][INFO] 2024-07-02 17:19:54,265: process[oak-4]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-07-02 17:19:54,274: process[oak-4]: started with pid [71]
[roslaunch][INFO] 2024-07-02 17:19:54,275: ... successfully launched [oak-4]
[roslaunch][INFO] 2024-07-02 17:19:54,275: ... launch_nodes complete
[roslaunch.pmon][INFO] 2024-07-02 17:19:54,275: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 281473454817760)>
[roslaunch.parent][INFO] 2024-07-02 17:19:54,275: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2024-07-02 17:19:54,275: spin

Additional context Add any other context about the problem here.

No, I want to use Rtabmap and ISaac slam with my oak FFC 3P board. I have two OV9282 cameras connected.

[Shivam7Sharma]

@Serafadam Can you please help with this issue?