Left and right rectified frames are not synchronized! (ROS2 driver)

AbdelrahmanMohsen

I have oak-d pro fixed focus OV9782K camera run on jetson orin nano 4gb, we will use it with isaac vslam package.
got repeated "Left and right rectified frames are not synchronized!" warn message in ros2 when run ros2 launch depthai_ros_driver camera_as_part_of_arobot.launch.py with below configuration, what causes this warning and how to solve it:

[component_container-1] [WARN] [1754395714.230774825] [oak]: Left and right rectified frames are not synchronized!

[component_container-1] [WARN] [1754395714.632694745] [oak]: Left and right rectified frames are not synchronized!

[component_container-1] [WARN] [1754395722.134537764] [oak]: Left and right rectified frames are not synchronized!

def generate_launch_description():

depthai_prefix = get_package_share_directory("depthai_ros_driver")

declared_arguments = [

    DeclareLaunchArgument("name", default_value="oak"),

    DeclareLaunchArgument("camera_model", default_value="OAK-D"),

    DeclareLaunchArgument("parent_frame", default_value="oak-d-base-frame"),

    DeclareLaunchArgument("cam_pos_x", default_value="0.0"),

    DeclareLaunchArgument("cam_pos_y", default_value="0.0"),

    DeclareLaunchArgument("cam_pos_z", default_value="0.0"),

    DeclareLaunchArgument("cam_roll", default_value="0.0"),

    DeclareLaunchArgument("cam_pitch", default_value="0.0"),

    DeclareLaunchArgument("cam_yaw", default_value="0.0"),

    DeclareLaunchArgument(

        "params_file",

        default_value=os.path.join(depthai_prefix, "config", "rgbd.yaml"),

    ),

    DeclareLaunchArgument("rectify_rgb", default_value="true"),

    DeclareLaunchArgument("rsp_use_composition", default_value="true"),

    DeclareLaunchArgument(

        "publish_tf_from_calibration",

        default_value="false",

        description="Enables TF publishing from camera calibration file.",

    ),

    DeclareLaunchArgument(

        "imu_from_descr",

        default_value="false",

        description="Enables IMU publishing from URDF.",

    ),

    DeclareLaunchArgument(

        "override_cam_model",

        default_value="false",

        description="Overrides camera model from calibration file.",

    ),

]

/oak:

ros__parameters:

camera:

  i_enable_imu: true

  i_nn_type: none

stereo:

  i_reverse_stereo_socket_order: true

  i_publish_synced_rect_pair: true

left:

  i_resolution: '400P'

right:

  i_resolution: '400P'

jakaskerl

AbdelrahmanMohsen
L and R should be synchronized by default since their FSIN signal is hardwired. cc @Luxonis-Adam

Thanks,
Jaka

AbdelrahmanMohsen

jakaskerl

Does this mean that we don’t need to use the parameter i_publish_synced_rect_pair: true?

jakaskerl

AbdelrahmanMohsen
You probably still have to, since the i_publish_synced_rect_pair is related to software syncing (ts/sequence matching).

Thanks,
Jaka

mrjogo

I also just ran into this problem with an OAK-D-SR.

My configs:

/**:
  ros__parameters:
    camera:
      i_pipeline_type: Depth
      publish_tf: true
      i_publish_tf_from_calibration: true
    right:
      i_publish_topic: true
    stereo:
      i_align_depth: true
      i_board_socket_id: 2 # 1 = CAM_B / left; 2 = CAM_C / right
      i_publish_synced_rect_pair: true

And the output:

[INFO] [launch]: All log files can be found below /home/ros/.ros/log/2025-08-12-14-16-24-572055-barbot-26043
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [camera_node-1]: process started with pid [26046]
[camera_node-1] [INFO] [1755033385.667644995] [oak_d_sr]: Starting camera.
[camera_node-1] [INFO] [1755033386.180183894] [oak_d_sr]: Connecting to the camera using mxid: XXX
[camera_node-1] [INFO] [1755033388.692723233] [oak_d_sr]: Camera with MXID: XXX and Name: 1.3.3 connected!
[camera_node-1] [INFO] [1755033388.693983377] [oak_d_sr]: USB SPEED: SUPER
[camera_node-1] [INFO] [1755033388.731357444] [oak_d_sr]: Device type: OAK-D-SR
[camera_node-1] [INFO] [1755033388.732895901] [oak_d_sr]: Pipeline type: Depth
[camera_node-1] [INFO] [1755033389.123512865] [oak_d_sr]: Finished setting up pipeline.
[camera_node-1] [INFO] [1755033389.468046422] [oak_d_sr]: Setting up stereo pair sync timer with period 33 ms based on left sensor FPS.
[camera_node-1] [INFO] [1755033389.926568711] [oak_d_sr]: Published URDF
[camera_node-1] [WARN] [1755033389.926680852] [oak_d_sr]: IMU extrinsics are not set. Publishing IMU frame with zero translation and rotation.
[camera_node-1] [INFO] [1755033389.927827943] [oak_d_sr]: Camera ready!
[camera_node-1] [WARN] [1755033389.963287953] [oak_d_sr]: Left and right rectified frames are not synchronized!
[camera_node-1] [WARN] [1755033389.996397719] [oak_d_sr]: Left and right rectified frames are not synchronized!
[camera_node-1] [WARN] [1755033390.029348862] [oak_d_sr]: Left and right rectified frames are not synchronized!

jakaskerl

mrjogo
cc @Luxonis-Adam

Luxonis-Adam

Hi, i_publish_synced_rect_pair: true has some issues and will be deprecated in new releases, the simplest way to publish synced pairs would be to use general syncing mechanism described here: https://docs.luxonis.com/software/ros/depthai-ros/driver/#DepthAI%20ROS%20Driver-Syncing
for rectified pairs you need to set, for example stereo.i_left_rect_synced: true.