I have an OakD and currently using it with ROS2 Humble. After running ros2 launch depthai_ros_driver camera.launch.py , the camera can restart multiple times at different time intervals, and I'm unsure why this happens. The logs from the launch are this:
[INFO] [launch]: All log files can be found below /home/jyue86/.ros/log/2023-10-12-10-50-54-406076-pop-os-11599
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [11614]
[component_container-1] [INFO] [1697133054.908113618] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1697133054.920358837] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697133054.920380427] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697133054.929492034] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1697133054.929514867] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1697133054.929520718] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1697133054.929524776] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1697133054.929528944] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1697133054.929532661] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1697133054.929536308] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1697133054.929540185] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1697133054.929544072] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1697133054.929547749] [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] [1697133054.933578122] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1697133055.051972996] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697133055.052034231] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697133055.057400754] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133057.366519786] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133057.367244743] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133057.394205230] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133057.395976080] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133057.406461880] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133057.456308147] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133057.719367507] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133058.312475573] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_conta[component_container-1] [ERROR] [1697133233.205124107] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1697133233.205226290] [oak]: Restarting camera
[component_container-1] [INFO] [1697133233.205247901] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133235.878791885] [oak]: Starting camera.
[component_container-1] [INFO] [1697133235.878876875] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133238.176315981] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133238.177010761] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133238.197176262] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133238.198797049] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133238.205606535] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133238.244212101] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133238.509738023] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133239.017156996] [oak]: Camera ready!
[component_container-1] [18443010A180060F00] [2.2] [16.166] [system] [critical] Fatal error. Please report to developers. Log: 'PoolBase' '137'
[component_container-1] [ERROR] [1697133255.967929409] [oak]: No data on logger queue!
[component_container-1] [ERROR] [1697133255.968287044] [oak]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'
[component_container-1] [ERROR] [1697133255.968320708] [oak]: Restarting camera
[component_container-1] [INFO] [1697133255.968340695] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133256.173957174] [oak]: Starting camera.
[component_container-1] [INFO] [1697133256.174024020] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133258.435967947] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected![INFO] [launch]: All log files can be found below /home/jyue86/.ros/log/2023-10-12-10-50-54-406076-pop-os-11599
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [11614]
[component_container-1] [INFO] [1697133054.908113618] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1697133054.920358837] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697133054.920380427] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1697133054.929492034] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1697133054.929514867] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1697133054.929520718] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1697133054.929524776] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1697133054.929528944] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1697133054.929532661] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1697133054.929536308] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1697133054.929540185] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1697133054.929544072] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1697133054.929547749] [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] [1697133054.933578122] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1697133055.051972996] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697133055.052034231] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1697133055.057400754] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133057.366519786] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133057.367244743] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133057.394205230] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133057.395976080] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133057.406461880] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133057.456308147] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133057.719367507] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133058.312475573] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_conta[component_container-1] [ERROR] [1697133233.205124107] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1697133233.205226290] [oak]: Restarting camera
[component_container-1] [INFO] [1697133233.205247901] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133235.878791885] [oak]: Starting camera.
[component_container-1] [INFO] [1697133235.878876875] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133238.176315981] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133238.177010761] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133238.197176262] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133238.198797049] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133238.205606535] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133238.244212101] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133238.509738023] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133239.017156996] [oak]: Camera ready!
[component_container-1] [18443010A180060F00] [2.2] [16.166] [system] [critical] Fatal error. Please report to developers. Log: 'PoolBase' '137'
[component_container-1] [ERROR] [1697133255.967929409] [oak]: No data on logger queue!
[component_container-1] [ERROR] [1697133255.968287044] [oak]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'
[component_container-1] [ERROR] [1697133255.968320708] [oak]: Restarting camera
[component_container-1] [INFO] [1697133255.968340695] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133256.173957174] [oak]: Starting camera.
[component_container-1] [INFO] [1697133256.174024020] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133258.435967947] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133258.436699597] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133258.457467083] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133258.459098180] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133258.465889331] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133258.503018743] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133258.774700317] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133259.269820058[component_container-1] [ERROR] [1697133394.218275472] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1697133394.218368167] [oak]: Restarting camera
[component_container-1] [INFO] [1697133394.218383816] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133396.660170710] [oak]: Starting camera.
[component_container-1] [INFO] [1697133396.660232407] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133398.956708966] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133398.957444223] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133398.977693502] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133398.979342433] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133398.986247128] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133399.022557945] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133399.280674150] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133399.788063587^[[C[component_container-1] [ERROR] [1697133539.738262021] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1697133539.738329007] [oak]: Restarting camera
[component_container-1] [INFO] [1697133539.738342833] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133541.461853550] [oak]: Starting camera.
[component_container-1] [INFO] [1697133541.461922230] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133543.776014362] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133543.776723339] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133543.796929977] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133543.798607001] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133543.805579264] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133543.843609084] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133544.107790119] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133544.615558380] [oak]: Camera ready!
[component_container-1] [INFO] [1697133258.436699597] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133258.457467083] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133258.459098180] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133258.465889331] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133258.503018743] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133258.774700317] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133259.269820058[component_container-1] [ERROR] [1697133394.218275472] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1697133394.218368167] [oak]: Restarting camera
[component_container-1] [INFO] [1697133394.218383816] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133396.660170710] [oak]: Starting camera.
[component_container-1] [INFO] [1697133396.660232407] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133398.956708966] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133398.957444223] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133398.977693502] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133398.979342433] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133398.986247128] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133399.022557945] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133399.280674150] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133399.788063587^[[C[component_container-1] [ERROR] [1697133539.738262021] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1697133539.738329007] [oak]: Restarting camera
[component_container-1] [INFO] [1697133539.738342833] [oak]: Stopping camera.
[component_container-1] [INFO] [1697133541.461853550] [oak]: Starting camera.
[component_container-1] [INFO] [1697133541.461922230] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1697133543.776014362] [oak]: Camera with MXID: 18443010A180060F00 and Name: 2.2 connected!
[component_container-1] [INFO] [1697133543.776723339] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1697133543.796929977] [oak]: Device type: OAK-D
[component_container-1] [INFO] [1697133543.798607001] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1697133543.805579264] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1697133543.843609084] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1697133544.107790119] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1697133544.615558380] [oak]: Camera ready!
Note that on one line, it reads, "Fatal error. Please report to developers. Log: 'PoolBase' '137'"
