[BUG] Cannot get launch files to work with new OAK-D SR PoE (ToF).

[BVS29]

Hi,

We have recently acquired an OAK-D ToF camera. I have connected it to my laptop via a UniFi XG 6PoE switch.
I have installed the depthai Python package, its requirements, and ros-humble-depthai-ros. The latter I first installed via apt, and then built from source — which did not make a difference.

I can run Python examples that visualize either the (colorized) depthmap or the RGB output of the camera.
However, when I try to run any of the ROS2 launch files, I always get the same error:

Output for: ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py gdb:=True -d

> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
> [INFO] [launch]: All log files can be found below /home/jochem/.ros/log/2025-08-20-11-57-36-296147-jochem-Victus-by-HP-Gaming-Laptop-16-r0xxx-14658
> [INFO] [launch]: Default logging verbosity is set to DEBUG
> [DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x73a5f19c5690>'
> [DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x73a5f19c5690>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x73a5f2ff5ea0>'
> > Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.158 seconds
> [INFO] [component_container-1]: process started with pid [14674]
> [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x73a5f1948a60>''
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/oak_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='robot_state_publisher', 
> plugin_name='robot_state_publisher::RobotStatePublisher', node_name='oak_state_publisher', node_namespace='/', log_level=0, remap_rules=[], parameters=[rcl_interfaces.msg.Parameter(name='robot_description', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='<?xml version="1.0" ?> <!-- =================================================================================== --> <!-- |    This document was autogenerated by xacro from /home/jochem/dai_ws/install/depthai_descriptions/share/depthai_descriptions/urdf/depthai_descr.urdf.xacro | --> <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | --> <!-- =================================================================================== --> <robot name="depthai_camera"> <link name="oak-d-base-frame"/> <!-- base_link of the sensor--> <link name="oak"/> <joint name="oak_center_joint" type="fixed"> <parent link="oak-d-base-frame"/> <child link="oak"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> </joint> <link name="oak_model_origin"> <visual> <origin rpy="0 0 0" xyz="0.019 0 0"/> <geometry> <mesh filename="package://depthai_descriptions/urdf/models/OAK-D-SR-POE.stl"/> </geometry> <material name="mat"> <color rgba="0.8 0.8 0.8 0.8"/> </material> </visual> </link> <joint name="oak_model_origin_joint" type="fixed"> <parent link="oak"/> <child link="oak_model_origin"/> <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/> </joint> <!-- IMU --> <link name="oak_rgb_camera_frame"/> <joint name="oak_rgb_camera_joint" type="fixed"> <parent link="oak"/> <child link="oak_rgb_camera_frame"/> <origin rpy="0 0 0" xyz="0 0 0"/> </joint> <link name="oak_rgb_camera_optical_frame"/> <joint name="oak_rgb_camera_optical_joint" type="fixed"> <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/> <parent link="oak_rgb_camera_frame"/> <child link="oak_rgb_camera_optical_frame"/> </joint> <!-- left Camera --> <link name="oak_left_camera_frame"/> <joint name="oak_left_camera_joint" type="fixed"> <parent link="oak"/> <child link="oak_left_camera_frame"/> <origin rpy="0 0 0" xyz="0 0.0375 0"/> </joint> <link name="oak_left_camera_optical_frame"/> <joint name="oak_left_camera_optical_joint" type="fixed"> <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/> <parent link="oak_left_camera_frame"/> <child link="oak_left_camera_optical_frame"/> </joint> <!-- right Camera --> <link name="oak_right_camera_frame"/> <joint name="oak_right_camera_joint" type="fixed"> <parent link="oak"/> <child link="oak_right_camera_frame"/> <origin rpy="0 0 0" xyz="0 0.0175 0"/> </joint> <link name="oak_right_camera_optical_frame"/> <joint name="oak_right_camera_optical_joint" type="fixed"> <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/> <parent link="oak_right_camera_frame"/> <child link="oak_right_camera_optical_frame"/> </joint> </robot>', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[])'
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac670>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac670>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.703762563] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the 'oak_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='image_proc', plugin_name='image_proc::RectifyNode', node_name='rectify_color_node_right', node_namespace='', log_level=0, remap_rules=['image:=oak/right/image_raw', 'camera_info:=oak/right/camera_info', 'image_rect:=oak/right/image_rect', 'image_rect/compressed:=oak/right/image_rect/compressed', 'image_rect/compressedDepth:=oak/right/image_rect/compressedDepth', 'image_rect/theora:=oak/right/image_rect/theora'], parameters=[], extra_arguments=[])'
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the '/oak_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='depthai_ros_driver', plugin_name='depthai_ros_driver::Camera', node_name='oak', node_namespace='/', log_level=0, remap_rules=[], parameters=[rcl_interfaces.msg.Parameter(name='camera.i_enable_imu', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='camera.i_enable_ir', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='camera.i_nn_type', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='none', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='camera.i_pipeline_type', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='StereoToF', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='pipeline_gen.i_enable_sync', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right.i_low_bandwidth', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='right.i_synced', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])), rcl_interfaces.msg.Parameter(name='tof.i_synced', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=True, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))], extra_arguments=[])'
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Calling the 'oak_container/_container/load_node' service with request 'composition_interfaces.srv.LoadNode_Request(package_name='depth_image_proc', plugin_name='depth_image_proc::PointCloudXyzrgbNode', node_name='point_cloud_xyzright_node', node_namespace='', log_level=0, remap_rules=['depth_registered/image_rect:=oak/tof/image_raw', 'rgb/image_rect_color:=oak/right/image_rect', 'rgb/camera_info:=oak/right/camera_info', 'points:=oak/points'], parameters=[], extra_arguments=[])'
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18aeef0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18aeef0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.707969312] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
> [component_container-1] [INFO] [1755683856.708003965] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac700>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.716671653] [oak_state_publisher]: got segment oak
> [component_container-1] [INFO] [1755683856.716720495] [oak_state_publisher]: got segment oak-d-base-frame
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac5e0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac5e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.716730479] [oak_state_publisher]: got segment oak_left_camera_frame
> [component_container-1] [INFO] [1755683856.716737769] [oak_state_publisher]: got segment oak_left_camera_optical_frame
> [component_container-1] [INFO] [1755683856.716743841] [oak_state_publisher]: got segment oak_model_origin
> [component_container-1] [INFO] [1755683856.716749743] [oak_state_publisher]: got segment oak_rgb_camera_frame
> [component_container-1] [INFO] [1755683856.716755763] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
> [component_container-1] [INFO] [1755683856.716761782] [oak_state_publisher]: got segment oak_right_camera_frame
> [component_container-1] [INFO] [1755683856.716767625] [oak_state_publisher]: got segment oak_right_camera_optical_frame
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/oak_state_publisher', unique_id=1)'
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac5b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18ac5b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.719013648] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c59c0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c59c0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.754728311] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
> [component_container-1] [INFO] [1755683856.754767579] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/rectify_color_node_right', unique_id=2)'
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node_right' in container 'oak_container'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc310>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc310>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.764196064] [oak_container]: Load Library: /home/jochem/dai_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c61d0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c61d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.771387486] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c61d0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c61d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.771414315] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/oak', unique_id=3)'
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f194ad70>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f194ad70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.773336033] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c61d0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f19c61d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683856.774993558] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
> [component_container-1] [INFO] [1755683856.775007586] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
> [component_container-1] [INFO] [1755683856.775011123] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
> [component_container-1] [INFO] [1755683856.775014962] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
> [component_container-1] [INFO] [1755683856.775018204] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
> [component_container-1] [INFO] [1755683856.775020860] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
> [component_container-1] [INFO] [1755683856.775023410] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
> [component_container-1] [INFO] [1755683856.775026029] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
> [component_container-1] [INFO] [1755683856.775028674] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
> [DEBUG] [launch_ros.actions.load_composable_nodes]: Received response 'composition_interfaces.srv.LoadNode_Response(success=True, error_message='', full_node_name='/point_cloud_xyzright_node', unique_id=4)'
> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzright_node' in container 'oak_container'
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683857.775669885] [oak]: Starting camera.
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683857.781928078] [oak]: No ip/mxid specified, connecting to the next available device.
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683869.602444748] [oak]: Camera with MXID: 1944301091B5CA2F00 and Name: 169.254.1.222 connected!
> [component_container-1] [INFO] [1755683869.602571830] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see Readme->DepthAI ROS Driver->Specific camera configurations).
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> [component_container-1] [INFO] [1755683869.672152316] [oak]: Device type: OAK-D-SR-POE
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> **[component_container-1] [INFO] [1755683869.691000025] [oak]: Pipeline type: StereoToF**
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> **[component_container-1] [WARN] [1755683869.769835202] [oak]: OAK-D-SR-POE device detected. Pipeline types other than StereoToF/ToF/RGBToF might not work without reconfiguration.
> [component_container-1] [ERROR] [1755683869.769961782] [oak]: Invalid pipeline chosen for camera as it has only stereo pair. Switching to Depth.**
> [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>'
> [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x73a5f18bc2b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x73a5f18e42b0>'
> **[component_container-1] terminate called after throwing an instance of 'std::out_of_range'
> [component_container-1]   what():  _Map_base::at**
> [ERROR] [component_container-1]: process has died [pid 14674, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

I should add that I have tried all versions of StereoToF/ToF/RGBToF in the params.yaml file.

Other tests

• the default python demo runs fine, and I can get both depth and RGB streams.
• ros2 launch depthai_examples stereo_inertial_node.launch.py does not work because the lack of an IMU in this camera.
• ros2 launch depthai_ros_driver camera.launch.py gives a similar error:

output for ros2 launch depthai_ros_driver camera.launch.py

``` [INFO] [launch]: All log files can be found below /home/jochem/.ros/log/2025-08-21-10-36-40-712381-jochem-Victus-by-HP-Gaming-Laptop-16-r0xxx-6426 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [6441] [component_container-1] [INFO] [1755765401.124535674] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so [component_container-1] [INFO] [1755765401.128796775] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1755765401.128837585] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1755765401.136579181] [oak_state_publisher]: got segment oak [component_container-1] [INFO] [1755765401.136621357] [oak_state_publisher]: got segment oak-d-base-frame [component_container-1] [INFO] [1755765401.136628850] [oak_state_publisher]: got segment oak_imu_frame [component_container-1] [INFO] [1755765401.136634405] [oak_state_publisher]: got segment oak_left_camera_frame [component_container-1] [INFO] [1755765401.136639885] [oak_state_publisher]: got segment oak_left_camera_optical_frame [component_container-1] [INFO] [1755765401.136644720] [oak_state_publisher]: got segment oak_model_origin [component_container-1] [INFO] [1755765401.136649894] [oak_state_publisher]: got segment oak_rgb_camera_frame [component_container-1] [INFO] [1755765401.136655267] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [component_container-1] [INFO] [1755765401.136660344] [oak_state_publisher]: got segment oak_right_camera_frame [component_container-1] [INFO] [1755765401.136665145] [oak_state_publisher]: got segment oak_right_camera_optical_frame [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container' [component_container-1] [INFO] [1755765401.138855791] [oak_container]: Load Library: /home/jochem/dai_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so [component_container-1] [INFO] [1755765401.206231216] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1755765401.206275021] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1755765401.208364045] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-1] [INFO] [1755765401.209968632] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1755765401.209982772] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container '/oak_container' [component_container-1] [INFO] [1755765402.212913216] [oak]: Starting camera. [component_container-1] [INFO] [1755765402.218297729] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-1] [INFO] [1755765412.102390995] [oak]: Camera with MXID: 1944301091B5CA2F00 and Name: 169.254.1.222 connected! [component_container-1] [INFO] [1755765412.102514119] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see Readme->DepthAI ROS Driver->Specific camera configurations). [component_container-1] [INFO] [1755765412.170112990] [oak]: Device type: OAK-D-SR-POE [component_container-1] [INFO] [1755765412.183677137] [oak]: Pipeline type: RGBD [component_container-1] [WARN] [1755765412.259969819] [oak]: OAK-D-SR-POE device detected. Pipeline types other than StereoToF/ToF/RGBToF might not work without reconfiguration. [component_container-1] [ERROR] [1755765412.260060603] [oak]: Invalid pipeline chosen for camera as it has only stereo pair. Switching to Depth. [component_container-1] terminate called after throwing an instance of 'std::out_of_range' [component_container-1] what(): _Map_base::at [ERROR] [component_container-1]: process has died [pid 6441, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/']. ```

Additionally, when showing the RGB and ToF outputs, there is a delay of 5-10 seconds for the visualization. This is of lower priority for now, however.

Can anyone help me decipher what the problem is? I really would like to have a pointcloud visualization in RVIZ (or even in Python, but that also has not worked with the default scripts yet). Any help is greatly appreciated!

System information:

ROS2 Humble
Ubuntu 22.04
OAK-D SR PoE (via UniFi XG 6 Poe)

Output of log_system_information.py

> {
>     "architecture": "64bit ELF",
>     "machine": "x86_64",
>     "platform": "Linux-6.8.0-65-generic-x86_64-with-glibc2.35",
>     "processor": "x86_64",
>     "python_build": "main May 27 2025 17:12:29",
>     "python_compiler": "GCC 11.4.0",
>     "python_implementation": "CPython",
>     "python_version": "3.10.12",
>     "release": "6.8.0-65-generic",
>     "system": "Linux",
>     "version": "#68~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 15 18:06:34 UTC 2",
>     "win32_ver": "",
>     "packages": [
>         "ackermann-msgs==2.0.2",
>         "action-msgs==1.2.2",
>         "action-tutorials-interfaces==0.20.5",
>         "action-tutorials-py==0.20.5",
>         "actionlib-msgs==4.9.0",
>         "addict==2.4.0",
>         "almelo-arm==0.0.0",
>         "ament-clang-format==0.12.14",
>         "ament-cmake-test==1.3.12",
>         "ament-copyright==0.12.14",
>         "ament-cppcheck==0.12.14",
>         "ament-cpplint==0.12.14",
>         "ament-flake8==0.12.14",
>         "ament-index-python==1.4.0",
>         "ament-lint==0.12.14",
>         "ament-lint-cmake==0.12.14",
>         "ament-package==0.14.1",
>         "ament-pep257==0.12.14",
>         "ament-uncrustify==0.12.14",
>         "ament-xmllint==0.12.14",
>         "angles==1.15.0",
>         "ansitable==0.11.4",
>         "anyio==4.9.0",
>         "appdirs==1.4.4",
>         "apturl==0.5.2",
>         "arandr==0.1.10",
>         "argcomplete==1.8.1",
>         "asttokens==3.0.0",
>         "attrs==25.3.0",
>         "azure-core==1.32.0",
>         "azure-storage-blob==12.24.1",
>         "Babel==2.8.0",
>         "backports.tarfile==1.2.0",
>         "bcrypt==3.2.0",
>         "beautifulsoup4==4.10.0",
>         "beniget==0.4.1",
>         "beta1==0.0.0",
>         "beta6==0.0.0",
>         "blinker==1.9.0",
>         "blobconverter==1.4.3",
>         "bloom==0.13.0",
>         "bond==4.1.2",
>         "bottle==0.13.3",
>         "breezy==3.2.1",
>         "Brlapi==0.8.3",
>         "Brotli==1.0.9",
>         "build==1.2.2.post1",
>         "builtin-interfaces==1.2.2",
>         "CacheControl==0.14.3",
>         "cachy==0.3.0",
>         "camera-calibration==3.0.8",
>         "canopen==2.3.0",
>         "catkin-pkg==1.0.0",
>         "catkin-pkg-modules==1.0.0",
>         "certifi==2020.6.20",
>         "cfgv==3.4.0",
>         "chardet==4.0.0",
>         "charset-normalizer==2.0.12",
>         "cleo==2.1.0",
>         "click==8.2.1",
>         "clikit==0.6.2",
>         "colcon-argcomplete==0.3.3",
>         "colcon-bash==0.5.0",
>         "colcon-cd==0.2.1",
>         "colcon-cmake==0.2.29",
>         "colcon-common-extensions==0.3.0",
>         "colcon-core==0.19.0",
>         "colcon-defaults==0.2.9",
>         "colcon-devtools==0.3.0",
>         "colcon-installed-package-information==0.2.1",
>         "colcon-library-path==0.2.1",
>         "colcon-metadata==0.2.5",
>         "colcon-mixin==0.2.3",
>         "colcon-notification==0.3.0",
>         "colcon-output==0.2.13",
>         "colcon-override-check==0.0.1",
>         "colcon-package-information==0.4.0",
>         "colcon-package-selection==0.2.10",
>         "colcon-parallel-executor==0.3.0",
>         "colcon-pkg-config==0.1.0",
>         "colcon-powershell==0.4.0",
>         "colcon-python-setup-py==0.2.9",
>         "colcon-recursive-crawl==0.2.3",
>         "colcon-ros==0.5.0",
>         "colcon-test-result==0.3.8",
>         "colcon-zsh==0.5.0",
>         "colorama==0.4.4",
>         "colored==2.2.4",
>         "comm==0.2.2",
>         "command-not-found==0.3",
>         "composition-interfaces==1.2.2",
>         "config-utilities==0.0.0",
>         "ConfigArgParse==1.7.1",
>         "configobj==5.0.6",
>         "contourpy==1.3.0",
>         "control-msgs==4.8.0",
>         "controller-manager==2.51.0",
>         "controller-manager-msgs==2.51.0",
>         "cov-core==1.15.0",
>         "coverage==6.2",
>         "CProfileV==1.0.7",
>         "crashtest==0.4.1",
>         "croptequtils @ file:///home/jochem/smarttrim_ws/src/utilities/src/croptequtils",
>         "cryptography==3.4.8",
>         "cupshelpers==1.0",
>         "cv-bridge==3.2.1",
>         "cycler==0.11.0",
>         "dacite==1.9.2",
>         "dash==3.1.1",
>         "dbus-python==1.2.18",
>         "decorator==4.4.2",
>         "default-config==0.0.0",
>         "defer==1.0.6",
>         "demo-nodes-py==0.20.5",
>         "Deprecated==1.2.13",
>         "depthai==2.30.0.0",
>         "depthai-sdk==1.9.4",
>         "diagnostic-msgs==4.9.0",
>         "diagnostic-updater==4.0.6",
>         "dill==0.3.9",
>         "distinctipy==1.3.4",
>         "distlib==0.3.9",
>         "distro==1.7.0",
>         "distro-info==1.1+ubuntu0.2",
>         "docutils==0.17.1",
>         "domain-coordinator==0.10.0",
>         "dulwich==0.22.8",
>         "duplicity==0.8.21",
>         "dwb-msgs==1.1.18",
>         "empy==3.3.4",
>         "example-interfaces==0.9.3",
>         "examples-rclpy-executors==0.15.4",
>         "examples-rclpy-minimal-action-client==0.15.4",
>         "examples-rclpy-minimal-action-server==0.15.4",
>         "examples-rclpy-minimal-client==0.15.4",
>         "examples-rclpy-minimal-publisher==0.15.4",
>         "examples-rclpy-minimal-service==0.15.4",
>         "examples-rclpy-minimal-subscriber==0.15.4",
>         "exceptiongroup==1.3.0",
>         "executing==2.2.0",
>         "fastbencode==0.0.5",
>         "fasteners==0.14.1",
>         "fastimport==0.9.14",
>         "fastjsonschema==2.21.1",
>         "ffmpeg-image-transport-msgs==1.1.2",
>         "ffmpy3==0.2.4",
>         "filelock==3.16.1",
>         "findpython==0.6.3",
>         "flake8==4.0.1",
>         "Flask==3.1.1",
>         "fonttools==4.29.1",
>         "foxglove-msgs==2.3.0",
>         "fs==2.4.12",
>         "fsspec==2024.10.0",
>         "future==0.18.2",
>         "gast==0.5.2",
>         "gazebo-msgs==3.9.0",
>         "generate-parameter-library-py==0.5.0",
>         "geographic-msgs==1.0.6",
>         "geometry-msgs==4.9.0",
>         "gpg==1.16.0",
>         "gpiod==1.5.4",
>         "guided-filter-pytorch==3.7.5",
>         "h11==0.16.0",
>         "html5lib==1.1",
>         "httpcore==1.0.9",
>         "httplib2==0.20.2",
>         "httpx==0.28.1",
>         "identify==2.6.5",
>         "idna==3.3",
>         "ikpy==3.4.2",
>         "image-geometry==3.2.1",
>         "imageio==2.36.0",
>         "importlib_metadata==8.7.0",
>         "iniconfig==1.1.1",
>         "installer==0.7.0",
>         "interactive-markers==2.3.2",
>         "ipython==8.37.0",
>         "ipywidgets==8.1.7",
>         "isodate==0.7.2",
>         "itsdangerous==2.2.0",
>         "jaraco.classes==3.4.0",
>         "jaraco.context==6.0.1",
>         "jaraco.functools==4.1.0",
>         "jedi==0.19.2",
>         "jeepney==0.7.1",
>         "Jinja2==3.1.4",
>         "joblib==1.5.1",
>         "joint-state-publisher==2.4.0",
>         "jsonschema==4.24.0",
>         "jsonschema-specifications==2025.4.1",
>         "jupyter_core==5.8.1",
>         "jupyterlab_widgets==3.0.15",
>         "keyboard==0.13.5",
>         "keyring==25.6.0",
>         "kiwisolver==1.3.2",
>         "language-selector==0.1",
>         "lapx==0.5.11.post1",
>         "lark==1.1.1",
>         "laser-geometry==2.4.0",
>         "launch==1.0.10",
>         "launch-param-builder==0.1.1",
>         "launch-ros==0.19.10",
>         "launch-testing==1.0.10",
>         "launch-testing-ros==0.19.10",
>         "launch-xml==1.0.10",
>         "launch-yaml==1.0.10",
>         "launchpadlib==1.10.16",
>         "lazr.restfulclient==0.14.4",
>         "lazr.uri==1.0.6",
>         "lazy_loader==0.4",
>         "lifecycle-msgs==1.2.2",
>         "lockfile==0.12.2",
>         "logging-demo==0.20.5",
>         "loguru==0.7.3",
>         "louis==3.20.0",
>         "lxml==4.8.0",
>         "lz4==3.1.3+dfsg",
>         "macaroonbakery==1.3.1",
>         "Mako==1.1.3",
>         "map-msgs==2.1.0",
>         "MarkupSafe==3.0.2",
>         "marshmallow==3.17.0",
>         "matplotlib==3.5.1",
>         "matplotlib-inline==0.1.7",
>         "mavros-msgs==2.10.1",
>         "mcap==1.3.0",
>         "mcap-ros1-support==0.0.8",
>         "mccabe==0.6.1",
>         "mercurial==6.1.1",
>         "mergedeep==1.3.4",
>         "message-filters==4.3.8",
>         "mocap4r2-control-msgs==0.0.7",
>         "monotonic==1.6",
>         "more-itertools==8.10.0",
>         "moveit-configs-utils==2.5.9",
>         "moveit-msgs==2.2.1",
>         "mpi4py==3.1.3",
>         "mpmath==1.3.0",
>         "msgpack==1.0.8",
>         "narwhals==1.46.0",
>         "nav-2d-msgs==1.1.18",
>         "nav-msgs==4.9.0",
>         "nav2-common==1.1.18",
>         "nav2-msgs==1.1.18",
>         "nav2-simple-commander==1.0.0",
>         "nbformat==5.10.4",
>         "nest-asyncio==1.6.0",
>         "netifaces==0.11.0",
>         "networkx==3.4.2",
>         "nmea-msgs==2.0.0",
>         "nodeenv==1.9.1",
>         "nose2==0.9.2",
>         "notify2==0.3",
>         "numpy==2.2.6",
>         "nvidia-cublas-cu12==12.4.5.8",
>         "nvidia-cuda-cupti-cu12==12.4.127",
>         "nvidia-cuda-nvrtc-cu12==12.4.127",
>         "nvidia-cuda-runtime-cu12==12.4.127",
>         "nvidia-cudnn-cu12==9.1.0.70",
>         "nvidia-cufft-cu12==11.2.1.3",
>         "nvidia-curand-cu12==10.3.5.147",
>         "nvidia-cusolver-cu12==11.6.1.9",
>         "nvidia-cusparse-cu12==12.3.1.170",
>         "nvidia-nccl-cu12==2.21.5",
>         "nvidia-nvjitlink-cu12==12.4.127",
>         "nvidia-nvtx-cu12==12.4.127",
>         "oauthlib==3.2.0",
>         "object-recognition-msgs==2.0.0",
>         "octomap-msgs==2.0.1",
>         "olefile==0.46",
>         "open3d==0.19.0",
>         "opencv-contrib-python==4.5.5.62",
>         "opencv-python==4.12.0.88",
>         "osrf-pycommon==2.1.6",
>         "packaging==25.0",
>         "pandas==2.2.3",
>         "paramiko==2.9.3",
>         "parso==0.8.4",
>         "pastel==0.2.1",
>         "patiencediff==0.2.1",
>         "pbs-installer==2025.6.12",
>         "pcl-msgs==1.0.0",
>         "pendulum-msgs==0.20.5",
>         "pexpect==4.8.0",
>         "pgraph-python==0.6.3",
>         "pillow==11.0.0",
>         "pip==25.2",
>         "pkginfo==1.12.1.2",
>         "platformdirs==4.3.6",
>         "plotjuggler-msgs==0.2.3",
>         "plotly==6.2.0",
>         "pluggy==0.13.0",
>         "ply==3.11",
>         "poetry==2.1.3",
>         "poetry-core==2.1.3",
>         "pre_commit==4.0.1",
>         "progress==1.6",
>         "prompt_toolkit==3.0.51",
>         "proto2==0.0.0",
>         "protobuf==3.12.4",
>         "psutil==5.9.0",
>         "ptyprocess==0.7.0",
>         "pure_eval==0.2.3",
>         "py==1.10.0",
>         "py-cpuinfo==9.0.0",
>         "pyaml==25.5.0",
>         "pybullet==3.2.7",
>         "pycairo==1.20.1",
>         "pycodestyle==2.8.0",
>         "pycups==2.0.1",
>         "pydocstyle==6.1.1",
>         "pydot==1.4.2",
>         "pyflakes==2.4.0",
>         "PyGithub==1.55",
>         "Pygments==2.11.2",
>         "PyGObject==3.42.1",
>         "pygraphviz==1.7",
>         "PyJWT==2.3.0",
>         "pylev==1.2.0",
>         "pymacaroons==0.13.0",
>         "PyNaCl==1.5.0",
>         "pyparsing==2.4.7",
>         "pyprof2calltree==1.4.5",
>         "pyproject_hooks==1.2.0",
>         "PyQt5==5.15.5",
>         "PyQt5-Qt5==5.15.17",
>         "PyQt5-sip==12.9.1",
>         "pyquaternion==0.9.9",
>         "pyrealsense2==2.55.1.6486",
>         "pyRFC3339==1.1",
>         "pytest==6.2.5",
>         "pytest-cov==3.0.0",
>         "python-apt==2.4.0+ubuntu4",
>         "python-box==7.2.0",
>         "python-can==4.4.2",
>         "python-dateutil==2.9.0.post0",
>         "python-debian==0.1.43+ubuntu1.1",
>         "python-gitlab==2.10.1",
>         "python-qt-binding==1.1.2",
>         "pythran==0.10.0",
>         "pytube==15.0.0",
>         "PyTurboJPEG==1.6.4",
>         "pytz==2022.1",
>         "pyusb==1.2.1",
>         "pyxdg==0.27",
>         "PyYAML==6.0.2",
>         "qt-dotgraph==2.2.4",
>         "qt-gui==2.2.4",
>         "qt-gui-cpp==2.2.4",
>         "qt-gui-py-common==2.2.4",
>         "Qt.py==1.4.6",
>         "quality-of-service-demo-py==0.20.5",
>         "RapidFuzz==3.13.0",
>         "rcl-interfaces==1.2.2",
>         "rclpy==3.3.17",
>         "rcutils==5.1.6",
>         "realsense2-camera-msgs==4.55.1",
>         "referencing==0.36.2",
>         "reportlab==3.6.8",
>         "requests==2.32.5",
>         "requests-toolbelt==1.0.0",
>         "resource-retriever==3.1.3",
>         "retrying==1.4.0",
>         "rmw-dds-common==1.6.0",
>         "robodk==5.8.0",
>         "robot-localization==3.5.3",
>         "roboticstoolbox-python==1.1.0",
>         "roman==3.3",
>         "ros2action==0.18.13",
>         "ros2bag==0.15.15",
>         "ros2cli==0.18.13",
>         "ros2component==0.18.13",
>         "ros2controlcli==2.51.0",
>         "ros2doctor==0.18.13",
>         "ros2interface==0.18.13",
>         "ros2launch==0.19.10",
>         "ros2lifecycle==0.18.13",
>         "ros2multicast==0.18.13",
>         "ros2node==0.18.13",
>         "ros2param==0.18.13",
>         "ros2pkg==0.18.13",
>         "ros2run==0.18.13",
>         "ros2service==0.18.13",
>         "ros2topic==0.18.13",
>         "rosbag2-interfaces==0.15.15",
>         "rosbag2-py==0.15.15",
>         "rosbags==0.9.11",
>         "rosdep==0.26.0",
>         "rosdep-modules==0.26.0",
>         "rosdistro==1.0.1",
>         "rosdistro-modules==1.0.1",
>         "rosgraph-msgs==1.2.2",
>         "rosidl-adapter==3.1.7",
>         "rosidl-cli==3.1.7",
>         "rosidl-cmake==3.1.7",
>         "rosidl-generator-c==3.1.7",
>         "rosidl-generator-cpp==3.1.7",
>         "rosidl-generator-py==0.14.5",
>         "rosidl-parser==3.1.7",
>         "rosidl-runtime-py==0.9.3",
>         "rosidl-typesupport-c==2.0.2",
>         "rosidl-typesupport-cpp==2.0.2",
>         "rosidl-typesupport-fastrtps-c==2.2.2",
>         "rosidl-typesupport-fastrtps-cpp==2.2.2",
>         "rosidl-typesupport-introspection-c==3.1.7",
>         "rosidl-typesupport-introspection-cpp==3.1.7",
>         "rospkg==1.6.0",
>         "rospkg-modules==1.6.0",
>         "rpds-py==0.26.0",
>         "rpyutils==0.2.1",
>         "rqt==1.1.7",
>         "rqt-action==2.0.1",
>         "rqt-bag==1.1.5",
>         "rqt-bag-plugins==1.1.5",
>         "rqt-console==2.0.3",
>         "rqt-controller-manager==2.51.0",
>         "rqt-dotgraph==0.0.4",
>         "rqt-gauges==0.0.3",
>         "rqt-graph==1.3.1",
>         "rqt-gui==1.1.7",
>         "rqt-gui-py==1.1.7",
>         "rqt-joint-trajectory-controller==2.48.0",
>         "rqt-moveit==1.0.1",
>         "rqt-msg==1.2.0",
>         "rqt-plot==1.1.5",
>         "rqt-publisher==1.5.0",
>         "rqt-py-common==1.1.7",
>         "rqt-py-console==1.0.2",
>         "rqt-reconfigure==1.1.2",
>         "rqt-robot-dashboard==0.5.8",
>         "rqt-robot-monitor==1.0.6",
>         "rqt-robot-steering==1.0.2",
>         "rqt-runtime-monitor==1.0.0",
>         "rqt-service-caller==1.0.5",
>         "rqt-shell==1.0.2",
>         "rqt-srv==1.0.3",
>         "rqt-tf-tree==1.0.5",
>         "rqt-topic==1.5.0",
>         "rtb-data==1.0.1",
>         "Rtree==1.3.0",
>         "ruamel.yaml==0.18.15",
>         "ruamel.yaml.clib==0.2.12",
>         "scikit-image==0.24.0",
>         "scikit-learn==1.7.0",
>         "scikit-optimize==0.10.2",
>         "scipy==1.15.3",
>         "screen-resolution-extra==0.0.0",
>         "scripts==3.9.0",
>         "seaborn==0.13.2",
>         "SecretStorage==3.3.1",
>         "semver==2.10.2",
>         "sensor-msgs==4.9.0",
>         "sensor-msgs-py==4.9.0",
>         "sentry-sdk==1.14.0",
>         "setuptools==59.6.0",
>         "shape-msgs==4.9.0",
>         "shellingham==1.5.4",
>         "six==1.16.0",
>         "slam-toolbox==2.6.10",
>         "smarttrim-aruco-marker-detector==0.0.0",
>         "smarttrim-bringup==0.0.0",
>         "smarttrim-camera-calibration-gui==0.0.0",
>         "smarttrim-collision-checker==0.0.0",
>         "smarttrim-common-py==0.0.0",
>         "smarttrim-control-flow==0.1.0",
>         "smarttrim-gripper-handler-copley==0.0.0",
>         "smarttrim-interfaces==0.0.0",
>         "smarttrim-main-stem-cut-check==0.0.0",
>         "smarttrim-node-structure-creator==0.0.0",
>         "smarttrim-rosbag-logger==0.0.0",
>         "smarttrim-scara-handler==0.0.0",
>         "smarttrim-tools==0.0.0",
>         "smarttrim-trajectory-calculator==0.0.0",
>         "smarttrim-transporter-handler==0.0.0",
>         "smarttrim-visualization==0.0.0",
>         "smclib==4.1.2",
>         "snakeviz==2.2.2",
>         "sniffio==1.3.1",
>         "snowballstemmer==2.2.0",
>         "soupsieve==2.3.1",
>         "spatialgeometry==1.1.0",
>         "spatialmath-python==1.1.13",
>         "srdfdom==2.0.7",
>         "sros2==0.10.7",
>         "stack-data==0.6.3",
>         "statistics-msgs==1.2.2",
>         "std-msgs==4.9.0",
>         "std-srvs==4.9.0",
>         "stereo-msgs==4.9.0",
>         "swift-sim==1.1.0",
>         "sympy==1.13.1",
>         "systemd-python==234",
>         "tabulate==0.9.0",
>         "teleop-twist-keyboard==2.4.0",
>         "terminator==2.1.5",
>         "tf-transformations==1.1.0",
>         "tf2-geometry-msgs==0.25.15",
>         "tf2-kdl==0.25.15",
>         "tf2-msgs==0.25.15",
>         "tf2-py==0.25.15",
>         "tf2-ros-py==0.25.15",
>         "tf2-sensor-msgs==0.25.15",
>         "tf2-tools==0.25.15",
>         "theora-image-transport==2.5.3",
>         "threadpoolctl==3.6.0",
>         "tifffile==2024.9.20",
>         "toml==0.10.2",
>         "tomli==2.2.1",
>         "tomlkit==0.13.3",
>         "topic-monitor==0.20.5",
>         "topic-tools==1.1.1",
>         "topic-tools-interfaces==1.1.1",
>         "torch==2.5.0",
>         "torchvision==0.20.0",
>         "tornado==6.4.2",
>         "tqdm==4.66.5",
>         "traitlets==5.14.3",
>         "trajectory-msgs==4.9.0",
>         "transforms3d==0.4.2",
>         "transporter-aruco-marker-detector==0.0.0",
>         "transporter-bringup==0.0.0",
>         "transporter-end-of-rail-vision==0.0.0",
>         "transporter-end-of-rail-vision-sim==0.0.0",
>         "transporter-handler==0.0.0",
>         "transporter-handler-sim==0.0.0",
>         "transporter-interfaces==0.0.0",
>         "transporter-motor-interfaces==0.0.0",
>         "transporter-motor-interfaces-sim==0.0.0",
>         "transporter-path-change-motion==0.0.0",
>         "transporter-rail-alignment-detection==0.0.0",
>         "transporter-rail-alignment-motion==0.0.0",
>         "transporter-rail-detection-aruco==0.0.0",
>         "transporter-rail-detection-vision==0.0.0",
>         "transporter-rail-sensor-drivers==0.0.0",
>         "transporter-rail-sensor-drivers-sim==0.0.0",
>         "transporter-robot-model==0.0.0",
>         "transporter-teleop==0.0.0",
>         "triton==3.1.0",
>         "trove-classifiers==2025.5.9.12",
>         "tuna==0.5.11",
>         "turtlesim==1.4.2",
>         "typeguard==2.2.2",
>         "types-PySide2==5.15.2.1.7",
>         "typing_extensions==4.12.2",
>         "tzdata==2024.2",
>         "ubuntu-drivers-common==0.0.0",
>         "ubuntu-pro-client==8001",
>         "ufoLib2==0.13.1",
>         "ufw==0.36.1",
>         "ultralytics==8.3.20",
>         "ultralytics-thop==2.0.9",
>         "unattended-upgrades==0.1",
>         "unicodedata2==14.0.0",
>         "unique-identifier-msgs==2.2.1",
>         "UNKNOWN @ file:///home/jochem/smarttrim_ws/src/utilities/src/croptequtils",
>         "urdfdom-py==1.2.1",
>         "urllib3==1.26.20",
>         "usb-creator==0.3.7",
>         "vcstool==0.3.0",
>         "vcstools==0.1.42",
>         "vg==2.0.0",
>         "virtualenv==20.28.1",
>         "vision-bringup==0.0.0",
>         "vision-common-py==0.0.0",
>         "vision-detector==0.0.0",
>         "vision-interfaces==0.0.0",
>         "vision-interfaces-copy==0.0.0",
>         "vision-msgs==4.1.1",
>         "vision-plant-model==0.0.0",
>         "visualization-msgs==4.9.0",
>         "wadllib==1.3.6",
>         "wcwidth==0.2.13",
>         "webencodings==0.5.1",
>         "websockets==14.1",
>         "Werkzeug==3.1.3",
>         "wheel==0.37.1",
>         "widgetsnbextension==4.0.14",
>         "wrapt==1.13.3",
>         "xacro==2.0.13",
>         "xdg==5",
>         "xkit==0.0.0",
>         "xmltodict==0.14.2",
>         "zipp==3.23.0",
>         "zstandard==0.23.0"
>     ],
>     "usb": [
>         {
>             "port": 0,
>             "vendor_id": "0x1d6b",
>             "product_id": "0x0003",
>             "speed": "SuperPlus"
>         },
>         {
>             "port": 7,
>             "vendor_id": "0x04f2",
>             "product_id": "0xb7f3",
>             "speed": "High"
>         },
>         {
>             "port": 10,
>             "vendor_id": "0x13d3",
>             "product_id": "0x3567",
>             "speed": "High"
>         },
>         {
>             "port": 1,
>             "vendor_id": "0x1c4f",
>             "product_id": "0x0034",
>             "speed": "Low"
>         },
>         {
>             "port": 0,
>             "vendor_id": "0x1d6b",
>             "product_id": "0x0002",
>             "speed": "High"
>         },
>         {
>             "port": 0,
>             "vendor_id": "0x1d6b",
>             "product_id": "0x0003",
>             "speed": "Unknown"
>         },
>         {
>             "port": 0,
>             "vendor_id": "0x1d6b",
>             "product_id": "0x0002",
>             "speed": "High"
>         }
>     ],
>     "uname": [
>         "Linux jochem-Victus-by-HP-Gaming-Laptop-16-r0xxx 6.8.0-65-generic #68~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 15 18:06:34 UTC 2 x86_64 x86_64"
>     ]
> }
> System info gathered successfully - saved as "log_system_information.json"
> 

Output of 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: 2.30.0-1jammy.20250701.034851
Priority: optional
Section: misc
Maintainer: Adam Serafin adam.serafin@luxonis.com
Installed-Size: 68.5 MB
Depends: libc6 (>= 2.34), libgcc-s1 (>= 4.2), 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: 25.1 MB
APT-Manual-Installed: yes
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 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: 2.11.2-1jammy.20250728.093148
Priority: optional
Section: misc
Maintainer: Adam Serafin adam.serafin@luxonis.com
Installed-Size: 44.0 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: 7,218 B
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages
Description: The depthai-ros package

Package: ros-humble-depthai-bridge
Version: 2.11.2-1jammy.20250728.072814
Priority: optional
Section: misc
Maintainer: Adam Serafin adam.serafin@luxonis.com
Installed-Size: 507 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-ffmpeg-image-transport-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: 138 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages
Description: The depthai_bridge package

Package: ros-humble-depthai-ros-msgs
Version: 2.11.2-1jammy.20250719.034059
Priority: optional
Section: misc
Maintainer: Adam Serafin adam.serafin@luxonis.com
Installed-Size: 2,004 kB
Depends: libc6 (>= 2.14), 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: 147 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages
Description: Package to keep interface independent of the driver

Package: ros-humble-depthai-ros-driver
Version: 2.11.2-1jammy.20250728.091930
Priority: optional
Section: misc
Maintainer: Adam Serafin adam.serafin@luxonis.com
Installed-Size: 3,104 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-ffmpeg-image-transport-msgs, 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: 684 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages
Description: Depthai ROS Monolithic node.

</details>

[Serafadam]

Hi, thanks for the report, unfortunately I can't replicate it so far but just to be sure, could you post some more information following the bug template?

[BVS29]

Unfortunately, most of the links to specific pages in the bug template seem to be dead. I've tried to add any applicable information to the post.

To summarize:
I can use the camera via the Python API to visualize depth and RGB outputs. However, none of the ROS2 launch files will generate any output, and they will basically all end in:

> [component_container-1] [WARN] [1755683869.769835202] [oak]: OAK-D-SR-POE device detected. Pipeline types other than StereoToF/ToF/RGBToF might not work without reconfiguration. > [component_container-1] [ERROR] [1755683869.769961782] [oak]: Invalid pipeline chosen for camera as it has only stereo pair. Switching to Depth. [component_container-1] terminate called after throwing an instance of 'std::out_of_range' > [component_container-1] what(): _Map_base::at

[Serafadam]

Thanks for further infomation, we are currently investigating whether this is something that is related to this specific device or if it is a more generic problem.

[darshanhegde]

I can confirm that I have the exact same issue and I'm using following version of the driver:

ros2 pkg xml depthai_ros_driver --tag version 2.11.2
echo $ROS_DISTRO humble

[darshanhegde]

A much easier way to reproduce would be to use official docker images:

docker run -it --network=host -v /dev/:/dev/  --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:jazzy-latest ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py

docker run -it --network=host -v /dev/:/dev/  --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:humble-latest ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py

$ docker run -it --network=host -v /dev/:/dev/  --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:humble-latest ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py
Unable to find image 'luxonis/depthai-ros:humble-latest' locally
humble-latest: Pulling from luxonis/depthai-ros
9cb31e2e37ea: Already exists 
0fc3f3fda503: Pull complete 
0e9d8461cf4a: Pull complete 
bb9d2f77ec1a: Pull complete 
7b473f6b69e3: Pull complete 
7736667635de: Pull complete 
75e07623aac5: Pull complete 
726033011fa4: Pull complete 
712c5691fcc7: Pull complete 
cf2ac1ca6706: Pull complete 
c1ea86b324fe: Pull complete 
ffc08e63dc20: Pull complete 
a8de9456965f: Pull complete 
25f5647e720d: Pull complete 
3356a864a8b6: Pull complete 
99077bd59d78: Pull complete 
c0cf269f6b88: Pull complete 
3e129fb0edf7: Pull complete 
3f9a5eaf7ca6: Pull complete 
4b8be042d566: Pull complete 
3298d7b4cefd: Pull complete 
00c78e14f2a1: Pull complete 
Digest: sha256:6058bf155a7ac2462e50c4a451912d80f5222c43bd388c737d071668a6185514
Status: Downloaded newer image for luxonis/depthai-ros:humble-latest
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-08-22-14-51-14-754019-outrun-robotics-dev-1
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [97]
[component_container-1] [INFO] [1755874275.203903574] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1755874275.209824969] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1755874275.209883206] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1755874275.226006569] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1755874275.226075621] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1755874275.226094071] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1755874275.226107570] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1755874275.226119698] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1755874275.226132037] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1755874275.226143476] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1755874275.226155264] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1755874275.226167009] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'
[component_container-1] [INFO] [1755874275.229863821] [oak_container]: Load Library: /ws/install/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1755874275.310169470] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1755874275.310208447] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1755874275.313519101] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1755874275.315476193] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1755874275.315496050] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node_right' in container 'oak_container'
[component_container-1] [INFO] [1755874275.331004261] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[component_container-1] [INFO] [1755874275.333818601] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-1] [INFO] [1755874275.333841506] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-1] [INFO] [1755874275.333850161] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-1] [INFO] [1755874275.333855569] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-1] [INFO] [1755874275.333863036] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-1] [INFO] [1755874275.333868438] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-1] [INFO] [1755874275.333872924] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-1] [INFO] [1755874275.333877644] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-1] [INFO] [1755874275.333882420] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzright_node' in container 'oak_container'
[component_container-1] [INFO] [1755874276.315515785] [oak]: Starting camera.
[component_container-1] [INFO] [1755874276.319542911] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1755874283.597906272] [oak]: Camera with MXID: 1944301091BD815A00 and Name: 10.0.0.157 connected!
[component_container-1] [INFO] [1755874283.598048738] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see Readme->DepthAI ROS Driver->Specific camera configurations).
[component_container-1] [INFO] [1755874283.649159517] [oak]: Device type: OAK-D-SR-POE
[component_container-1] [INFO] [1755874283.656297967] [oak]: Pipeline type: rgbtof
[component_container-1] [WARN] [1755874283.708930530] [oak]: OAK-D-SR-POE device detected. Pipeline types other than StereoToF/ToF/RGBToF might not work without reconfiguration.
[component_container-1] [ERROR] [1755874283.708971896] [oak]: Invalid pipeline chosen for camera as it has only stereo pair. Switching to Depth.
[component_container-1] terminate called after throwing an instance of 'std::out_of_range'
[component_container-1]   what():  _Map_base::at
[ERROR] [component_container-1]: process has died [pid 97, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

[JanezCim]

Tested with:
Host OS Ubuntu 24.04
Docker version 28.3.2, build 578ccf6
Tp-link Gigabit Switch TL-SG1005P with connection to internet
Cam: OAK - D SR

Setup:
Host:

xhost +local:docker
docker run -it --rm --net=host --name humbletest --tmpfs /tmp --device /dev/dri/ -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -e XAUTHORITY=$xauth -e "TERM=xterm-256color" -e "ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET" -e "RMW_IMPLEMENTATION=rmw_fastrtps_cpp" -v /tmp/.X11-unix/:/tmp/.X11-unix:rw  osrf/ros:humble-desktop-full /bin/bash

on Docker:

apt update
apt install ros-$ROS_DISTRO-depthai-ros-driver

another terminal:

docker exec -it humbletest bash
source /opt/ros/$ROS_DISTRO/setup.bash
rviz2

Results
1.) ran ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py gdb:=True -d without errors and in Rviz:

• camera and depth stream work (albeit camera stream is upside down - maybe a flaw with my cam)
• when I try to visualize pointcloud I cant see anything with error message: [WARN] [1756107069.021058476] [rviz]: New publisher discovered on topic '/oak/points', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY, but # ros2 topic hz /oak/points returns 1Hz avarage rate.
• There is no delay between RGB and depth stream

2.) running `ros2 launch depthai_examples stereo_inertial_node.launch.py` indeed failed (i guess because of lack of IMU, but I cant read that from the output

ros2 launch depthai_examples stereo_inertial_node.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-08-25-07-43-41-638165-jz-535
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [548]
[INFO] [stereo_inertial_node-2]: process started with pid [550]
[INFO] [component_container-3]: process started with pid [552]
[INFO] [rviz2-4]: process started with pid [554]
[rviz2-4] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[robot_state_publisher-1] [INFO] [1756107821.868438048] [oak_state_publisher]: got segment oak-d-base-frame
[robot_state_publisher-1] [INFO] [1756107821.868527482] [oak_state_publisher]: got segment oak-d_frame
[robot_state_publisher-1] [INFO] [1756107821.868536858] [oak_state_publisher]: got segment oak_imu_frame
[robot_state_publisher-1] [INFO] [1756107821.868542251] [oak_state_publisher]: got segment oak_left_camera_frame
[robot_state_publisher-1] [INFO] [1756107821.868547229] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1756107821.868551747] [oak_state_publisher]: got segment oak_model_origin
[robot_state_publisher-1] [INFO] [1756107821.868556295] [oak_state_publisher]: got segment oak_rgb_camera_frame
[robot_state_publisher-1] [INFO] [1756107821.868560732] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[robot_state_publisher-1] [INFO] [1756107821.868565535] [oak_state_publisher]: got segment oak_right_camera_frame
[robot_state_publisher-1] [INFO] [1756107821.868569765] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[stereo_inertial_node-2] [2025-08-25 07:43:41.900] [depthai] [warning] USB protocol not available - If running in a container, make sure that the following is set: "-v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw'"
[stereo_inertial_node-2] 1280 720 1280 720
[rviz2-4] [INFO] [1756107821.991477106] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1756107821.991560950] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1756107822.010519230] [rviz2]: Stereo is NOT SUPPORTED
[component_container-3] [INFO] [1756107822.040511370] [container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[component_container-3] [INFO] [1756107822.106481654] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-3] [INFO] [1756107822.106546810] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/container'
[component_container-3] [INFO] [1756107822.133489181] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-3] [INFO] [1756107822.133540540] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-3] [INFO] [1756107822.133552857] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-3] [INFO] [1756107822.133562855] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-3] [INFO] [1756107822.133572069] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-3] [INFO] [1756107822.133581157] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-3] [INFO] [1756107822.133590137] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-3] [INFO] [1756107822.133599259] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-3] [INFO] [1756107822.133608416] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container '/container'
[rviz2-4] [INFO] [1756107822.147150241] [rviz2]: Stereo is NOT SUPPORTED
[stereo_inertial_node-2] Listing available devices...
[stereo_inertial_node-2] Device Mx ID: 14442C104105AECF00
[stereo_inertial_node-2] [14442C104105AECF00] [10.12.119.66] [5.605] [MonoCamera(2)] [error] Camera 2 connected on socket 2 is not monochrome
[stereo_inertial_node-2] [14442C104105AECF00] [10.12.119.66] [5.878] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
[stereo_inertial_node-2] [14442C104105AECF00] [10.12.119.66] [1756107841.810] [host] [warning] Monitor thread (device: 14442C104105AECF00 [10.12.119.66]) - ping was missed, closing the device connection
[stereo_inertial_node-2] [2025-08-25 07:44:13.729] [depthai] [error] Device with id 14442C104105AECF00 has crashed. Crash dump logs are stored in: /.cache/depthai/crashdumps/8bb268cccf522e046216f2b80ece1d62d7015a20/crash_dump.json - please report to developers.
[stereo_inertial_node-2] terminate called after throwing an instance of 'std::system_error'
[stereo_inertial_node-2]   what():  Device already closed or disconnected: Input/output error
[ERROR] [stereo_inertial_node-2]: process has died [pid 550, exit code -6, cmd '/opt/ros/humble/lib/depthai_examples/stereo_inertial_node --ros-args --params-file /tmp/launch_params_rwis3d_n --params-file /tmp/launch_params_tzsn5g3q --params-file /tmp/launch_params_xlg1jfwe --params-file /tmp/launch_params_5vdodwpp --params-file /tmp/launch_params_so8mhljk --params-file /tmp/launch_params_yyr7qffp --params-file /tmp/launch_params_ymot3i3b --params-file /tmp/launch_params_71ucjij8 --params-file /tmp/launch_params_p4gsf1oi --params-file /tmp/launch_params_kjspd5y1 --params-file /tmp/launch_params_dpnzdta1 --params-file /tmp/launch_params_wb69n58o --params-file /tmp/launch_params_vi9tmb5z --params-file /tmp/launch_params_rc58b0mp --params-file /tmp/launch_params_j60o9ifx --params-file /tmp/launch_params_yzlm3mur --params-file /tmp/launch_params_exbbdxjx --params-file /tmp/launch_params_k0h0ekrg --params-file /tmp/launch_params_h9t2ao0f --params-file /tmp/launch_params_v5ugyyvt --params-file /tmp/launch_params_4lv9vk2c --params-file /tmp/launch_params_h0hzzftw --params-file /tmp/launch_params_wnhgdyzq --params-file /tmp/launch_params_3uwy7hjw --params-file /tmp/launch_params_lgzq518e --params-file /tmp/launch_params_fntzac9x --params-file /tmp/launch_params_ppgycsnu --params-file /tmp/launch_params_n76s3_h2 --params-file /tmp/launch_params_f3dxzt9p --params-file /tmp/launch_params_1c0bbebu --params-file /tmp/launch_params_6kntrla6 --params-file /tmp/launch_params_nl72_rks --params-file /tmp/launch_params_8961y9yu --params-file /tmp/launch_params_pi4zir58 --params-file /tmp/launch_params_yf7gf_3f'].
[INFO] [rviz2-4]: process has finished cleanly [pid 554]

3.) `ros2 launch depthai_ros_driver camera.launch.py` returns error `Sensor S5K33D not supported!`

[INFO] [launch]: All log files can be found below /root/.ros/log/2025-08-25-07-53-42-450178-jz-794
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [809]
[component_container-1] [INFO] [1756108422.828745315] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1756108422.838343372] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1756108422.838477787] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1756108422.901675932] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1756108422.901715777] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1756108422.901721322] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1756108422.901725646] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1756108422.901729910] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1756108422.901733973] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1756108422.901738126] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1756108422.901742231] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1756108422.901746342] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1756108422.901750266] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-1] [INFO] [1756108422.903945378] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'
[component_container-1] [INFO] [1756108422.958567505] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1756108422.958610909] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1756108422.961755266] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
[component_container-1] [INFO] [1756108422.964355697] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1756108422.964385695] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container '/oak_container'
[component_container-1] [INFO] [1756108423.963615395] [oak]: Starting camera.
[component_container-1] [2025-08-25 07:53:43.973] [depthai] [warning] USB protocol not available - If running in a container, make sure that the following is set: "-v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw'"
[component_container-1] [INFO] [1756108423.973805013] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1756108431.305240373] [oak]: Camera with MXID: 14442C104105AECF00 and Name: 10.12.119.66 connected!
[component_container-1] [INFO] [1756108431.305362109] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see Readme->DepthAI ROS Driver->Specific camera configurations).
[component_container-1] [INFO] [1756108431.362805057] [oak]: Device type: OAK-FFC-4P
[component_container-1] [INFO] [1756108431.373956102] [oak]: Pipeline type: RGBD
[component_container-1] [ERROR] [1756108431.445443421] [oak]: Sensor S5K33D not supported!
[component_container-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container-1]   what():  Sensor not supported!
[ERROR] [component_container-1]: process has died [pid 809, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

[BVS29]

@Serafadam have you been able to find a solution, or reproduce the issue yet?

[Serafadam]

Hi @BVS29, as @JanezCim posted above we tried two different devices, regarding Docker images - Jazzy works without issue and Humble unfortunately crashes due to low bandwidth bug which was fixed in later version (Humble docker image is a bit outdated due to issues with GH actions). We will be doing tests with some more devices, but if you are able, could you try the kilted version? It uses new DepthAI which provides much better performance on this device.

[BVS29]

Unfortunately, upgrading to Kilted is not really an option at this point in time. Considering the dependencies we have on the current versions of ROS2, Linux and Python this won't be feasible soon either. Is there any support you can offer for getting it to work with Humble? Or do you have any pointers where the issue might stem from? Any indication that setting up a clean Ubuntu + ROS install would help?

[Serafadam]

I think the best way to go forward would be to debug the issue with gdb. For easy setup, you can install both gdb and xterm in your system and then run the launch file with use_gdb:=true option

[BVS29]

In my initial post, you can see the output with use_gdb:=True.

I am currently also trying with ROS2 Kilted, and this has had very limited success. The launch file now launches without error (ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py) but the only topics published are robot_description, tf_static and /oak/left/camera_info and /oak/left/image_raw. Once again, I can see the ToF output via Python.

Output:

ros2 launch depthai_ros_driver sr_poe_rgbd_pcl.launch.py [INFO] [launch]: All log files can be found below /home/jochem/.ros/log/2025-08-29-16-40-28-669952-jochem-VDL-hp-victus-14755 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [14777] [component_container-1] [INFO] [1756478429.116181728] [oak_container]: Load Library: /opt/ros/kilted/lib/librobot_state_publisher_node.so [component_container-1] [INFO] [1756478429.122745771] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> [component_container-1] [INFO] [1756478429.122824305] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> [component_container-1] [INFO] [1756478429.138407592] [oak_state_publisher]: Robot initialized [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container' [component_container-1] [INFO] [1756478429.140676511] [oak_container]: Load Library: /opt/ros/kilted/lib/libdepthai_ros_driver.so [component_container-1] [INFO] [1756478429.214128786] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Driver> [component_container-1] [INFO] [1756478429.214171415] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Driver> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-1] [INFO] [1756478430.216926903] [oak]: Starting camera. [component_container-1] [INFO] [1756478430.218103868] [oak]: No ip/ID specified, connecting to the next available device. [component_container-1] [INFO] [1756478440.001075846] [oak]: Driver with ID: 1944301091B5CA2F00 and Name: 169.254.1.222 connected! [component_container-1] [INFO] [1756478440.001197392] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see Readme->DepthAI ROS Driver->Specific camera configurations). [component_container-1] [INFO] [1756478440.066932794] [oak]: Device type: OAK-D-SR-POE [component_container-1] [INFO] [1756478440.135955456] [oak]: Creating pipeline for device: OAK-D-SR-POE [component_container-1] [INFO] [1756478440.136400353] [oak]: Pipeline type: rgbtof [component_container-1] [WARN] [1756478440.203692851] [oak]: OAK-D-SR-POE device detected. Pipeline types other than StereoToF/ToF/RGBToF might not work without reconfiguration. [component_container-1] [INFO] [1756478440.362954325] [oak]: Finished setting up pipeline. [component_container-1] [INFO] [1756478440.677711902] [oak]: Published URDF [component_container-1] [WARN] [1756478440.677897982] [oak]: IMU extrinsics are not set. Publishing IMU frame with zero translation and RDF orientation. [component_container-1] [WARN] [1756478440.853537639] [oak]: Driver is still at beta stage! Expect further stability & usability improvements towards end of August 2025. [component_container-1] In meantime, please report issues to GH: https://github.com/luxonis/depthai-ros/issues/719 [component_container-1] [INFO] [1756478440.853631674] [oak]: Driver ready! [component_container-1] [INFO] [1756478440.865037915] [oak_state_publisher]: Robot initialized

[Serafadam]

@BVS29 , thanks for checking, regarding GDB output I meant in what exact place does the driver throw an error? You can go through the stack trace using standard gdb commands (bt, up, down, info locals, info args) in xterm. Regarding kilted version, ToF sensor might take a bit of time to initialize, if you wait for ~15 seconds do you still not see the output?

[BVS29]

Yes, I've had it on for a few hours continuously while trying to debug. I get nothing except image raw for the left cam, camera info for that and /tf_static. No errors either.

I should perhaps add that I'm also not succeeding in seeing the ToF output via the OAK-viewer, just the RGB there as well (sometimes). I can however visualize the ToF output via Python, so it can't be completely broken.

[Serafadam]

Thanks for the additional information, we suspect that there might be something wrong with your calibration, could you send us your calibration.json? You can get it by following this example