I am encountering issues when running the `stereo_inertial_node` using ROS2 with my OAK-D-S2 AF camera. Initially, I encountered a fatal error, and upon reducing the resolution, I no longer receive data on the topics Below are the detailed outputs and steps taken:

Command:

`ros2 launch depthai_examples stereo_inertial_node.launch.py

Output:

\`[INFO] [launch]: All log files can be found below /home/joe/.ros/log/2024-06-26-14-21-07-929574-JOE-193765

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [robot_state_publisher-1]: process started with pid [193778]

[INFO] [stereo_inertial_node-2]: process started with pid [193780]

[INFO] [component_container-3]: process started with pid [193782]

[INFO] [rviz2-4]: process started with pid [193784]

[rviz2-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

[robot_state_publisher-1] [INFO] [1719404468.120257951] [oak_state_publisher]: got segment oak-d-base-frame

[robot_state_publisher-1] ...

[component_container-3] [INFO] [1719404468.354162060] [container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so

[rviz2-4] [INFO] [1719404468.373438346] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-4] ...

[component_container-3] [INFO] [1719404468.390723690] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>

[component_container-3] [INFO] [1719404468.390763571] [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] ...

[component_container-3] [WARN] [1719404468.444482545] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[component_container-3] ...

[stereo_inertial_node-2] Listing available devices...

[stereo_inertial_node-2] Device Mx ID: 18443010B1E6631200

[stereo_inertial_node-2] [18443010B1E6631200] [3.2] [2.264] [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] Device USB status: SUPER

[stereo_inertial_node-2] [18443010B1E6631200] [3.2] [3.227] [system] [critical] Fatal error. Please report to developers. Log: 'Fatal error on MSS CPU: trap: 00, address: 00000000' '0'

\`

After reducing the mono resolution to 400p from 720p, I ran the same command:

\`[INFO] [launch]: All log files can be found below /home/joe/.ros/log/2024-06-26-14-26-38-974239-JOE-197675

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [robot_state_publisher-1]: process started with pid [197688]

[INFO] [stereo_inertial_node-2]: process started with pid [197690]

[INFO] [component_container-3]: process started with pid [197692]

[INFO] [rviz2-4]: process started with pid [197694]

[rviz2-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

[robot_state_publisher-1] ...

[stereo_inertial_node-2] [WARN] [1719404799.209315196] [DEPTHAI]: RGB Camera resolution is higher than the configured stereo resolution. Upscaling the stereo depth/disparity to match RGB camera resolution.

[component_container-3] ...

[rviz2-4] [INFO] [1719404799.431160091] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-4] ...

[component_container-3] [WARN] [1719404799.502955753] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[component_container-3] ...

[stereo_inertial_node-2] Listing available devices...

[stereo_inertial_node-2] Device Mx ID: 18443010B1E6631200

[stereo_inertial_node-2] [18443010B1E6631200] [3.2] [2.257] [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] Device USB status: SUPER

\`

the launch file :

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription, launch_description_sources
from launch.actions import IncludeLaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, LaunchConfigurationEquals, LaunchConfigurationNotEquals
import launch_ros.actions
import launch_ros.descriptions


def generate_launch_description():
    depthai_examples_path = get_package_share_directory('depthai_examples')
    urdf_launch_dir = os.path.join(get_package_share_directory('depthai_descriptions'), 'launch')

    aligned_rviz = os.path.join(depthai_examples_path,
                                'rviz', 'stereoInertialDepthAlignROS2.rviz')
    
    rectify_rviz = os.path.join(depthai_examples_path,
                                'rviz', 'stereoInertial.rviz')
    default_resources_path = os.path.join(depthai_examples_path,
                                'resources')

    mxId         = LaunchConfiguration('mxId',      default = 'x')
    usb2Mode     = LaunchConfiguration('usb2Mode',  default = False)
    poeMode      = LaunchConfiguration('poeMode',   default = False)

    camera_model = LaunchConfiguration('camera_model',  default = 'OAK-D')
    tf_prefix    = LaunchConfiguration('tf_prefix',     default = 'oak')
    mode         = LaunchConfiguration('mode', default = 'depth')
    base_frame   = LaunchConfiguration('base_frame',    default = 'oak-d_frame')
    parent_frame = LaunchConfiguration('parent_frame',  default = 'oak-d-base-frame')
    imuMode      = LaunchConfiguration('imuMode', default = '1')

    cam_pos_x    = LaunchConfiguration('cam_pos_x',     default = '0.0')
    cam_pos_y    = LaunchConfiguration('cam_pos_y',     default = '0.0')
    cam_pos_z    = LaunchConfiguration('cam_pos_z',     default = '0.0')
    cam_roll     = LaunchConfiguration('cam_roll',      default = '0.0')
    cam_pitch    = LaunchConfiguration('cam_pitch',     default = '0.0')
    cam_yaw      = LaunchConfiguration('cam_yaw',       default = '0.0')

    lrcheck        = LaunchConfiguration('lrcheck', default = True)
    extended       = LaunchConfiguration('extended', default = False)
    subpixel       = LaunchConfiguration('subpixel', default = True)
    rectify        = LaunchConfiguration('rectify', default = True)
    depth_aligned  = LaunchConfiguration('depth_aligned', default = True)
    manualExposure = LaunchConfiguration('manualExposure', default = False)
    expTime        = LaunchConfiguration('expTime', default = 20000)
    sensIso        = LaunchConfiguration('sensIso', default = 800)

    enableSpatialDetection  = LaunchConfiguration('enableSpatialDetection', default = True)
    syncNN                  = LaunchConfiguration('syncNN', default = True)
    detectionClassesCount   = LaunchConfiguration('detectionClassesCount', default = 80)
    nnName                  = LaunchConfiguration('nnName', default = 'x')
    resourceBaseFolder      = LaunchConfiguration('resourceBaseFolder', default = default_resources_path)


    stereo_fps            = LaunchConfiguration('stereo_fps', default = 30)
    confidence            = LaunchConfiguration('confidence', default = 200)
    LRchecktresh          = LaunchConfiguration('LRchecktresh', default = 5)
    monoResolution        = LaunchConfiguration('monoResolution', default = '720p')
    
    rgbResolution           = LaunchConfiguration('rgbResolution',  default = '1080p')
    rgbScaleNumerator       = LaunchConfiguration('rgbScaleNumerator',  default = 2)
    rgbScaleDinominator     = LaunchConfiguration('rgbScaleDinominator',    default = 3)
    previewWidth            = LaunchConfiguration('previewWidth',   default = 416)
    previewHeight           = LaunchConfiguration('previewHeight',  default = 416)
    
    
    angularVelCovariance  = LaunchConfiguration('angularVelCovariance', default = 0.0)
    linearAccelCovariance = LaunchConfiguration('linearAccelCovariance', default = 0.0)

    enableDotProjector = LaunchConfiguration('enableDotProjector', default = False)
    enableFloodLight   = LaunchConfiguration('enableFloodLight', default = False)
    dotProjectormA     = LaunchConfiguration('dotProjectormA', default = 200.0)
    floodLightmA       = LaunchConfiguration('floodLightmA', default = 200.0)
    enableRosBaseTimeUpdate       = LaunchConfiguration('enableRosBaseTimeUpdate', default = False)
    enableRviz         = LaunchConfiguration('enableRviz', default = True)


    declare_mxId_cmd = DeclareLaunchArgument(
        'mxId',
        default_value=mxId,
        description='select the device by passing the MxID of the device. It will connect to first available device if left empty.')

    declare_usb2Mode_cmd = DeclareLaunchArgument(
        'usb2Mode',
        default_value=usb2Mode,
        description='To revert and use usb2 Mode. Set this parameter to false')

    declare_poeMode_cmd = DeclareLaunchArgument(
        'poeMode',
        default_value=poeMode,
        description='When MxID is set and the device is a POE model then set the poeMode to \"true\" to connect properly.')

    declare_camera_model_cmd = DeclareLaunchArgument(
        'camera_model',
        default_value=camera_model,
        description='The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.')

    declare_tf_prefix_cmd = DeclareLaunchArgument(
        'tf_prefix',
        default_value=tf_prefix,
        description='your custom name for the prefix of camera TF frames')
 
    declare_mode_cmd = DeclareLaunchArgument(
        'mode',
        default_value=mode,
        description='set to  \"depth\" or \"disparity\". Setting to depth will publish depth or else will publish disparity.')

    declare_base_frame_cmd = DeclareLaunchArgument(
        'base_frame',
        default_value=base_frame,
        description='Name of the base link in the TF Tree.')

    declare_parent_frame_cmd = DeclareLaunchArgument(
        'parent_frame',
        default_value=parent_frame,
        description='Name of the parent link from an another robot TF that can be connected to the base of the OAK device.')

    declare_imu_mode_cmd = DeclareLaunchArgument(
        'imuMode',
        default_value=imuMode,
        description=' set to 0 -> COPY, 1 -> LINEAR_INTERPOLATE_GYRO, 2 -> LINEAR_INTERPOLATE_ACCEL')


    declare_pos_x_cmd = DeclareLaunchArgument(
        'cam_pos_x',
        default_value=cam_pos_x,
        description='Position X of the camera with respect to the base frame.')

    declare_pos_y_cmd = DeclareLaunchArgument(
        'cam_pos_y',
        default_value=cam_pos_y,
        description='Position Y of the camera with respect to the base frame.')

    declare_pos_z_cmd = DeclareLaunchArgument(
        'cam_pos_z',
        default_value=cam_pos_z,
        description='Position Z of the camera with respect to the base frame.')

    declare_roll_cmd = DeclareLaunchArgument(
        'cam_roll',
        default_value=cam_roll,
        description='Roll orientation of the camera with respect to the base frame.')

    declare_pitch_cmd = DeclareLaunchArgument(
        'cam_pitch',
        default_value=cam_pitch,
        description='Pitch orientation of the camera with respect to the base frame.')

    declare_yaw_cmd = DeclareLaunchArgument(
        'cam_yaw',
        default_value=cam_yaw,
        description='Yaw orientation of the camera with respect to the base frame.')
    

    declare_lrcheck_cmd = DeclareLaunchArgument(
        'lrcheck',
        default_value=lrcheck,
        description='LR-Check is used to remove incorrectly calculated disparity pixels due to occlusions at object borders. Set to true to enable it')

    declare_extended_cmd = DeclareLaunchArgument(
        'extended',
        default_value=extended,
        description='Extended disparity mode allows detecting closer distance objects for the given baseline. Set this parameter to true to enable it')

    declare_subpixel_cmd = DeclareLaunchArgument(
        'subpixel',
        default_value=subpixel,
        description='Subpixel mode improves the precision and is especially useful for long range measurements. It also helps for better estimating surface normals. Set this parameter to true to enable it')

    declare_rectify_cmd = DeclareLaunchArgument(
        'rectify',
        default_value=rectify,
        description='enable this to publish rectified images used for depth estimation')

    declare_depth_aligned_cmd = DeclareLaunchArgument(
        'depth_aligned',
        default_value=depth_aligned,
        description='When depth_aligned is enabled depth map from stereo will be aligned to the RGB camera in the center.')

    declare_manualExposure_cmd = DeclareLaunchArgument(
        'manualExposure',
        default_value=manualExposure,
        description='When manualExposure is enabled, you can set the exposure time(expTime) and ISO(sensIso) of the stereo camera.')
    
    declare_expTime_cmd = DeclareLaunchArgument(
        'expTime',
        default_value=expTime,
        description='Set the exposure time of the stereo camera. Default value is 20000')

    declare_sensIso_cmd = DeclareLaunchArgument(
        'sensIso',
        default_value=sensIso,
        description='Set the ISO of the stereo camera. Default value is 800')

    declare_enableSpatialDetection_cmd = DeclareLaunchArgument(
        'enableSpatialDetection',
        default_value=enableSpatialDetection,
        description='When enableSpatialDetection is enabled NN Object detection with Spatial Positioning will be run.')

    declare_syncNN_cmd = DeclareLaunchArgument(
        'syncNN',
        default_value=syncNN,
        description='When syncNN is enabled Preview Image will be synced with the Detections.')

    declare_detectionClassesCount_cmd = DeclareLaunchArgument(
        'detectionClassesCount',
        default_value=detectionClassesCount,
        description='When detectionClassesCount is number of classes the NN contains. Default is set to 80.')

    declare_nnName_cmd = DeclareLaunchArgument(
        'nnName',
        default_value=nnName,
        description='Name of the NN blob being used to load. By default the one in resources folder will be used.')

    declare_resourceBaseFolder_cmd = DeclareLaunchArgument(
        'resourceBaseFolder',
        default_value=resourceBaseFolder,
        description='Path to the folder where NN Blob is stored.')

    declare_stereo_fps_cmd = DeclareLaunchArgument(
        'stereo_fps',
        default_value=stereo_fps,
        description='Sets the FPS of the cameras used in the stereo setup.')

    declare_confidence_cmd = DeclareLaunchArgument(
        'confidence',
        default_value=confidence,
        description='Set the confidence of the depth from 0-255. Max value means allow depth of all confidence. Default is set to 200')

    declare_LRchecktresh_cmd = DeclareLaunchArgument(
        'LRchecktresh',
        default_value=LRchecktresh,
        description='Set the LR threshold from 1-10 to get more accurate depth. Default value is 5.')

    declare_monoResolution_cmd = DeclareLaunchArgument(
        'monoResolution',
        default_value=monoResolution,
        description='Set the resolution of the mono/Stereo setup. Choose between 720p, 400p, 480p, 800p.')
 
    declare_rgbResolution_cmd = DeclareLaunchArgument(
        'rgbResolution',
        default_value=rgbResolution,
        description='Set the resolution of the RGB setup. Choose between 1080p, 4k, 12MP.')

    declare_rgbScaleNumerator_cmd = DeclareLaunchArgument(
        'rgbScaleNumerator',
        default_value=rgbScaleNumerator,
        description='Number of the scale Factor Numberator on top of RGB resolution selection.')

    declare_rgbScaleDinominator_cmd = DeclareLaunchArgument(
        'rgbScaleDinominator',
        default_value=rgbScaleDinominator,
        description='Number of the scale Factor Dinominator on top of RGB resolution selection.')

    declare_previewWidth_cmd = DeclareLaunchArgument(
        'previewWidth',
        default_value=previewWidth,
        description='Set the width of the preview window used for the NN detection.')

    declare_previewHeight_cmd = DeclareLaunchArgument(
        'previewHeight',
        default_value=previewHeight,
        description='Set the height of the preview window used for the NN detection.')

    declare_angularVelCovariance_cmd = DeclareLaunchArgument(
        'angularVelCovariance',
        default_value=angularVelCovariance,
        description='Set the angular velocity covariance of the IMU.')

    declare_linearAccelCovariance_cmd = DeclareLaunchArgument(
        'linearAccelCovariance',
        default_value=linearAccelCovariance,
        description='Set the Linear acceleration covariance of the IMU.')

    declare_enableDotProjector_cmd = DeclareLaunchArgument(
        'enableDotProjector',
        default_value=enableDotProjector,
        description='set this to true to enable the dot projector structure light (Available only on Pro models).')
    
    declare_enableFloodLight_cmd = DeclareLaunchArgument(
        'enableFloodLight',
        default_value=enableFloodLight,
        description='Set this to true to enable the flood light for night vision (Available only on Pro models).')
   
    declare_dotProjectormA_cmd = DeclareLaunchArgument(
        'dotProjectormA',
        default_value=dotProjectormA,
        description='Set the mA at which you intend to drive the dotProjector. Default is set to 200mA.')

    declare_floodLightmA_cmd = DeclareLaunchArgument(
        'floodLightmA',
        default_value=floodLightmA,
        description='Set the mA at which you intend to drive the FloodLight. Default is set to 200mA.')
    declare_enableRosBaseTimeUpdate_cmd = DeclareLaunchArgument(
        'enableRosBaseTimeUpdate',
        default_value=enableRosBaseTimeUpdate,
        description='Whether to update ROS time on each message.')


    declare_enableRviz_cmd = DeclareLaunchArgument(
        'enableRviz',
        default_value=enableRviz,
        description='When True create a RVIZ window.')
    


    urdf_launch = IncludeLaunchDescription(
                            launch_description_sources.PythonLaunchDescriptionSource(
                                    os.path.join(urdf_launch_dir, 'urdf_launch.py')),
                            launch_arguments={'tf_prefix'   : tf_prefix,
                                              'camera_model': camera_model,
                                              'base_frame'  : base_frame,
                                              'parent_frame': parent_frame,
                                              'cam_pos_x'   : cam_pos_x,
                                              'cam_pos_y'   : cam_pos_y,
                                              'cam_pos_z'   : cam_pos_z,
                                              'cam_roll'    : cam_roll,
                                              'cam_pitch'   : cam_pitch,
                                              'cam_yaw'     : cam_yaw}.items())


    stereo_node = launch_ros.actions.Node(
            package='depthai_examples', executable='stereo_inertial_node',
            output='screen',
            parameters=[{'mxId':                    mxId},
                        {'usb2Mode':                usb2Mode},
                        {'poeMode':                 poeMode},
                        {'resourceBaseFolder':      resourceBaseFolder},

                        {'tf_prefix':               tf_prefix},
                        {'mode':                    mode},
                        {'imuMode':                 imuMode},

                        {'lrcheck':                 lrcheck},
                        {'extended':                extended},
                        {'subpixel':                subpixel},
                        {'rectify':                 rectify},

                        {'depth_aligned':           depth_aligned},
                        {'manualExposure':          manualExposure},
                        {'expTime':                 expTime},
                        {'sensIso':                 sensIso},
                        {'stereo_fps':              stereo_fps},
                        {'confidence':              confidence},
                        {'LRchecktresh':            LRchecktresh},
                        {'monoResolution':          monoResolution},
                        {'rgbResolution':           rgbResolution},

                        {'rgbScaleNumerator':       rgbScaleNumerator},
                        {'rgbScaleDinominator':     rgbScaleDinominator},
                        {'previewWidth':            previewWidth},
                        {'previewHeight':           previewHeight},

                        {'angularVelCovariance':    angularVelCovariance},
                        {'linearAccelCovariance':   linearAccelCovariance},
                        {'enableSpatialDetection':  enableSpatialDetection},
                        {'detectionClassesCount':   detectionClassesCount},
                        {'syncNN':                  syncNN},
                        {'nnName':                  nnName},
                        
                        {'enableDotProjector':      enableDotProjector},
                        {'enableFloodLight':        enableFloodLight},
                        {'dotProjectormA':          dotProjectormA},
                        {'floodLightmA':            floodLightmA},
                        {'enableRosBaseTimeUpdate': enableRosBaseTimeUpdate}
                        ])
    
    depth_metric_converter = launch_ros.descriptions.ComposableNode(
                                package='depth_image_proc',
                                plugin='depth_image_proc::ConvertMetricNode',
                                name='convert_metric_node',
                                remappings=[('image_raw', 'stereo/depth'),
                                            ('camera_info', 'stereo/camera_info'),
                                            ('image', 'stereo/converted_depth')]
                                )
    pointcloud_topic = '/stereo/points'
    point_cloud_creator = None
    rviz_node = None
    if LaunchConfigurationEquals('depth_aligned', 'True'): 
        point_cloud_creator = launch_ros.descriptions.ComposableNode(
                    package='depth_image_proc',
                    plugin='depth_image_proc::PointCloudXyzrgbNode',
                    name='point_cloud_xyzrgb_node',
                    remappings=[('depth_registered/image_rect', 'stereo/converted_depth'),
                                ('rgb/image_rect_color', 'color/image'),
                                ('rgb/camera_info', 'color/camera_info'),
                                ('points', pointcloud_topic )]
                )

        rviz_node = launch_ros.actions.Node(
            package='rviz2', executable='rviz2', output='screen',
            arguments=['--display-config', aligned_rviz],
            condition=IfCondition(enableRviz))

    else:
        point_cloud_creator = launch_ros.descriptions.ComposableNode(
                    package='depth_image_proc',
                    plugin='depth_image_proc::PointCloudXyziNode',
                    name='point_cloud_xyzi',

                    remappings=[('depth/image_rect', 'stereo/converted_depth'),
                                ('intensity/image_rect', 'right/image_rect'),
                                ('intensity/camera_info', 'right/camera_info'),
                                ('points', pointcloud_topic)]
                )


        rviz_node = launch_ros.actions.Node(
            package='rviz2', executable='rviz2', output='screen',
            arguments=['--display-config', rectify_rviz],
            condition=IfCondition(enableRviz))



    if point_cloud_creator is not None:
        point_cloud_container = launch_ros.actions.ComposableNodeContainer(
                name='container',
                namespace='',
                package='rclcpp_components',
                executable='component_container',
                composable_node_descriptions=[
                    # Driver itself
                    depth_metric_converter,
                    point_cloud_creator
                ],
                output='screen',)
    marker_node = launch_ros.actions.Node(
            package='depthai_examples', executable='rviz2', output='screen',
            arguments=['--display-config', rectify_rviz],
            condition=IfCondition(enableRviz))

    ld = LaunchDescription()

    ld.add_action(declare_mxId_cmd)
    ld.add_action(declare_usb2Mode_cmd)
    ld.add_action(declare_poeMode_cmd)
    ld.add_action(declare_camera_model_cmd)

    ld.add_action(declare_tf_prefix_cmd)
    ld.add_action(declare_mode_cmd)
    ld.add_action(declare_base_frame_cmd)
    ld.add_action(declare_parent_frame_cmd)
    ld.add_action(declare_imu_mode_cmd)

    ld.add_action(declare_pos_x_cmd)
    ld.add_action(declare_pos_y_cmd)
    ld.add_action(declare_pos_z_cmd)
    ld.add_action(declare_roll_cmd)
    ld.add_action(declare_pitch_cmd)
    ld.add_action(declare_yaw_cmd)
    
    ld.add_action(declare_lrcheck_cmd)
    ld.add_action(declare_extended_cmd)
    ld.add_action(declare_subpixel_cmd)
    ld.add_action(declare_rectify_cmd)
    ld.add_action(declare_depth_aligned_cmd)
    ld.add_action(declare_manualExposure_cmd)
    ld.add_action(declare_expTime_cmd)
    ld.add_action(declare_sensIso_cmd)

    ld.add_action(declare_enableSpatialDetection_cmd)
    ld.add_action(declare_syncNN_cmd)
    ld.add_action(declare_detectionClassesCount_cmd)
    ld.add_action(declare_nnName_cmd)
    ld.add_action(declare_resourceBaseFolder_cmd)

    ld.add_action(declare_stereo_fps_cmd)
    ld.add_action(declare_confidence_cmd)
    ld.add_action(declare_LRchecktresh_cmd)
    ld.add_action(declare_monoResolution_cmd)

    ld.add_action(declare_rgbResolution_cmd)
    ld.add_action(declare_rgbScaleNumerator_cmd)
    ld.add_action(declare_rgbScaleDinominator_cmd)
    ld.add_action(declare_previewWidth_cmd)
    ld.add_action(declare_previewHeight_cmd)

    ld.add_action(declare_angularVelCovariance_cmd)
    ld.add_action(declare_linearAccelCovariance_cmd)

    ld.add_action(declare_enableDotProjector_cmd)
    ld.add_action(declare_enableFloodLight_cmd)
    ld.add_action(declare_dotProjectormA_cmd)
    ld.add_action(declare_floodLightmA_cmd)

    ld.add_action(declare_enableRviz_cmd)

    ld.add_action(urdf_launch)
    ld.add_action(stereo_node)

    if LaunchConfigurationEquals('depth_aligned', 'True') and LaunchConfigurationEquals('rectify', 'True'):
        ld.add_action(point_cloud_container)
    
    # ld.add_action(point_cloud_node)
    if LaunchConfigurationEquals('enableRviz', 'True') and rviz_node is not None:
        ld.add_action(rviz_node)
    return ld

**when i tried rgbd_pcl.launch.py i am got just the imu data and rgb/image_raw but i didn' get point cloud or depth image i got **

ros2 launch depthai_ros_driver rgbd_pcl.launch.py 
[INFO] [launch]: All log files can be found below /home/joe/.ros/log/2024-06-26-15-52-33-340608-JOE-246770
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [246785]
[INFO] [component_container-2]: process started with pid [246787]
[rviz2-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[component_container-2] [INFO] [1719409953.737211636] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-2] [INFO] [1719409953.738794618] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-2] [INFO] [1719409953.738807704] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-2] [INFO] [1719409953.742326677] [oak_state_publisher]: got segment oak
[component_container-2] [INFO] [1719409953.742347618] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-2] [INFO] [1719409953.742351233] [oak_state_publisher]: got segment oak_imu_frame
[component_container-2] [INFO] [1719409953.742353929] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-2] [INFO] [1719409953.742356649] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-2] [INFO] [1719409953.742359420] [oak_state_publisher]: got segment oak_model_origin
[component_container-2] [INFO] [1719409953.742362289] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-2] [INFO] [1719409953.742364971] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-2] [INFO] [1719409953.742367442] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-2] [INFO] [1719409953.742369960] [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-2] [INFO] [1719409953.743324815] [oak_container]: Load Library: /home/joe/MESA_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[rviz2-1] [INFO] [1719409953.782980429] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1719409953.783098450] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[component_container-2] [INFO] [1719409953.786466112] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1719409953.786497522] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1719409953.792203754] [oak]: No ip/mxid specified, connecting to the next available device.
[rviz2-1] [INFO] [1719409953.794360534] [rviz2]: Stereo is NOT SUPPORTED
[component_container-2] [INFO] [1719409956.545270385] [oak]: Camera with MXID: 18443010B1E6631200 and Name: 3.2 connected!
[component_container-2] [INFO] [1719409956.546608230] [oak]: USB SPEED: SUPER
[component_container-2] [INFO] [1719409956.599825731] [oak]: Device type: OAK-D-S2
[component_container-2] [INFO] [1719409956.603308541] [oak]: Pipeline type: RGBD
[component_container-2] [INFO] [1719409957.372621871] [oak]: Finished setting up pipeline.
[component_container-2] [INFO] [1719409958.279319474] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-2] [INFO] [1719409958.280005528] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[component_container-2] [INFO] [1719409958.285044618] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-2] [INFO] [1719409958.285089492] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-2] [INFO] [1719409958.285101509] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-2] [INFO] [1719409958.285110054] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-2] [INFO] [1719409958.285122170] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-2] [INFO] [1719409958.285130573] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-2] [INFO] [1719409958.285139064] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-2] [INFO] [1719409958.285147093] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-2] [INFO] [1719409958.285155678] [oak_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 'oak_container'

and here is the yaml file params:

/oak:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: false
      i_nn_type: none
      i_pipeline_type: RGBD
      i_usb_speed: SUPER_PLUS
    left:
      i_fps: 10.0
      i_resolution: 400P
    right:
      i_fps: 10.0
      i_resolution: 400P      
    stereo:
      i_subpixel: true
      i_height: 400
      i_width: 640      
      i_align_depth: true

and in depthai-veiwer i just was able to visualize the color image and imu data but there is no depth image

what should be the problem for not getting point cloud and depth image?