To Luxonis Support Team, I am writing to report a blocking instability issue with my OAK-D LR unit using the depthai-ros driver on ROS 2 Humble. My sole objective is to achieve a stable pipeline running at 60 FPS, publishing exactly these three streams: rectified left image, rectified right image and left camera imager(color). Currently, enabling this configuration results in immediate crashes or severe data corruption, making the device unusable for my application.
These are my environment details: Hardware: Luxonis OAK-D LR (Long Range), OS: Ubuntu 22.04 LTS (Jammy Jellyfish), ROS Version: ROS 2 Humble, Installation Method: Built from source (Cloned directly from the official depthai-ros GitHub repository, humble branch), Connection: USB 3.0 (Verified).
Problem Description:
When attempting to run the driver with the requested configuration (1200P or even 800P @ 60 FPS), the system fails in two specific ways:
Hard Crash (Memory Corruption): The node frequently crashes immediately or after a few seconds with the error: [component_container-1] double free or corruption (out).
Data Corruption (Red X Artifacts): On the rare occasions the driver stays alive, the stream is unstable. In RViz, the image topics constantly flicker with "Red X" rectangles, indicating malformed/dropped packets, and the actual framerate drops well below the target (often <15 FPS).
Configuration Attempts:
I have tried lowering the resolution (800P) and framerate (30/15 FPS) to isolate the issue, but the "double free" error persists whenever the rectification pipeline is fully active. I have also disabled the RGB node (i_disable_node: true) to save bandwidth, focusing strictly on the required stereo/left streams, but the instability remains.
5. Relevant Logs:
The terminal output consistently ends with:
$$
[component_container-1] double free or corruption (out)
[ros2run]: Process [component_container-1] died [pid X, exit code -6, cmd '...'].
$$
Could you please provide a stable camera.yaml configuration or a patch for the current Humble source build that supports 60 FPS rectification without memory corruption?
