Hi,
Thanks for your reply. I have checked the DDS implementation. It was indeed problem with the ROS2 default DDS vendor eProsima. I executed the below steps that solved my problem.
1. Installing Eclipse Cyclone DDS:
sudo apt install ros-humble-rmw-cyclonedds-cpp
2. Exporting the environmental variable:
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
3. Increasing the buffer memory:
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728
Now the point cloud does not freeze.
But,
I would like to add more to my previous reply.
If I launch using depthai_ros_driver
package, there is no data on topic /oak/points
at all. This topic is running on "Reliable" QoS setting due to which there is no data. But the /stereo/points
topic is on "Best effort" QoS, which works.
Maybe, the QoS setting has to changed for /oak/points in the source code.
Thanks,
Chandra.