rgbd_pcl does not work on Orin

rjameson

We have a couple of Oak-D POEs connected to Nvidia Orins. Launching pointcloud.launch.py works, but launching rgbd_pcl.launch.py does not, in the sense that, while it seems to launch without error, it never publishes a point cloud. Before I try to debug it, has this combination worked for anyone else? Any ideas? Thanks!

jakaskerl

cc @Luxonis-Adam any quick tips?

Thanks,
Jaka

Luxonis-Adam

Hi,
This could be caused by lags in data streams due to PoE interface, to improve that you can try decreasing resolution/fps/using low bandwidth mode for data streams. More information:
https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver/#Depthai%20ROS%20Driver-Specific%20camera%20configurations
https://docs.luxonis.com/projects/api/en/latest/tutorials/low-latency/

rjameson

Thanks. I think the problem was that ros-humble-image-proc wasn't installed for some reason. Now it works, although only at about 1 Hz, so your advice about lowering the bandwidth is helpful.