Hello everyone, for a student project we are working with an autonomous robot. The goal of the project is to replace the lidar sensor with two OAK-D-Pro-Wide cameras (stereo). The robot is using a Nvidia Jetson. After following the instructions on: * https://docs.luxonis.com/hardware/platform/deploy/to-jetson/ * https://docs.luxonis.com/software/depthai/manual-install#Manual%20DepthAI%20installation-Installing%20dependencies-Ubuntu%2FDebian * https://docs.luxonis.com/software/ros/depthai-ros/build/ the dai_ws was created and everything was installed. But when building the workspace this error occures: jetson@uiabot5:\~/dai_ws$ colcon build --symlink-install Starting >>> depthai_ros_msgs Starting >>> depthai Starting >>> depthai_descriptions Finished

@"Vladikb"#p31839 cc @"Luxonis-Adam"#919

Hi @"Vladikb"#3609, few questions: 1. Is the device powered separately via USB Y-adaper? 2. Is the driver build in release mode? 3. What DDS are you using? 4. Have you tried running the driver in localhost mode? 5. Are you running `ros2 topic hz` on Jetson, or on external PC? 6. Are you displaying data in Rviz over WiFi?

Colcon build error with Depthai package on Jetson

Vladikb

Hello everyone, for a student project we are working with an autonomous robot. The goal of the project is to replace the lidar sensor with two OAK-D-Pro-Wide cameras (stereo). The robot is using a Nvidia Jetson. After following the instructions on:

https://docs.luxonis.com/hardware/platform/deploy/to-jetson/
https://docs.luxonis.com/software/depthai/manual-install#Manual%20DepthAI%20installation-Installing%20dependencies-Ubuntu%2FDebian
https://docs.luxonis.com/software/ros/depthai-ros/build/

the dai_ws was created and everything was installed. But when building the workspace this error occures:

jetson@uiabot5:~/dai_ws$ colcon build --symlink-install

Starting >>> depthai_ros_msgs

Starting >>> depthai

Starting >>> depthai_descriptions

Finished <<< depthai_descriptions [2.31s]

Finished <<< depthai_ros_msgs [31.8s]

Starting >>> depthai_filters

--- stderr: depthai_filters

In file included from /home/jetson/dai_ws/src/depthai-ros/depthai_filters/src/feature_tracker_overlay.cpp:1:

/home/jetson/dai_ws/src/depthai-ros/depthai_filters/include/depthai_filters/feature_tracker_overlay.hpp:3:10: fatal error: cv_bridge/cv_bridge.hpp: No such file or directory

3 | #include "cv_bridge/cv_bridge.hpp"

  |          ^\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~

compilation terminated.

gmake[2]: *** [CMakeFiles/depthai_filters.dir/build.make:132: CMakeFiles/depthai_filters.dir/src/feature_tracker_overlay.cpp.o] Error 1

gmake[2]: *** Waiting for unfinished jobs....

/home/jetson/dai_ws/src/depthai-ros/depthai_filters/src/segmentation_overlay.cpp:3:10: fatal error: cv_bridge/cv_bridge.hpp: No such file or directory

3 | #include "cv_bridge/cv_bridge.hpp"

  |          ^\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~

compilation terminated.

gmake[2]: *** [CMakeFiles/depthai_filters.dir/build.make:90: CMakeFiles/depthai_filters.dir/src/segmentation_overlay.cpp.o] Error 1

/home/jetson/dai_ws/src/depthai-ros/depthai_filters/src/spatial_bb.cpp:3:10: fatal error: cv_bridge/cv_bridge.hpp: No such file or directory

3 | #include "cv_bridge/cv_bridge.hpp"

  |          ^\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~

compilation terminated.

gmake[2]: *** [CMakeFiles/depthai_filters.dir/build.make:104: CMakeFiles/depthai_filters.dir/src/spatial_bb.cpp.o] Error 1

/home/jetson/dai_ws/src/depthai-ros/depthai_filters/src/detection2d_overlay.cpp:3:10: fatal error: cv_bridge/cv_bridge.hpp: No such file or directory

3 | #include "cv_bridge/cv_bridge.hpp"

  |          ^\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~

compilation terminated.

gmake[2]: *** [CMakeFiles/depthai_filters.dir/build.make:76: CMakeFiles/depthai_filters.dir/src/detection2d_overlay.cpp.o] Error 1

/home/jetson/dai_ws/src/depthai-ros/depthai_filters/src/features_3d.cpp:3:10: fatal error: cv_bridge/cv_bridge.hpp: No such file or directory

3 | #include "cv_bridge/cv_bridge.hpp"

  |          ^\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~

compilation terminated.

gmake[2]: *** [CMakeFiles/depthai_filters.dir/build.make:146: CMakeFiles/depthai_filters.dir/src/features_3d.cpp.o] Error 1

/home/jetson/dai_ws/src/depthai-ros/depthai_filters/src/wls_filter.cpp:5:10: fatal error: cv_bridge/cv_bridge.hpp: No such file or directory

5 | #include "cv_bridge/cv_bridge.hpp"

  |          ^\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~\~

compilation terminated.

gmake[2]: *** [CMakeFiles/depthai_filters.dir/build.make:118: CMakeFiles/depthai_filters.dir/src/wls_filter.cpp.o] Error 1

gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/depthai_filters.dir/all] Error 2

gmake: *** [Makefile:146: all] Error 2

---

Failed <<< depthai_filters [3.79s, exited with code 2]

Aborted <<< depthai [22min 20s]

Summary: 2 packages finished [22min 21s]

1 package failed: depthai_filters

1 package aborted: depthai

2 packages had stderr output: depthai depthai_filters

4 packages not processed

jetson@uiabot5:~/dai_ws$

Did someone have the same problem and knows how to solve it? Thanks in advance for you help and feedback.

jakaskerl

Vladikb cc @Luxonis-Adam

Luxonis-Adam

Hi, I think this could be either ROS version mismatch between ROS installed on system and the branch of the depthai-ros repository, could you share what they are respectively? Alternatively, cv_bridge package is not installed (although that shouldn't be the case), you can check that with sudo apt install ros-DISTRO-cv-bridge

Vladikb

Luxonis-Adam

jetson@uiabot5:~$ echo "ROS_DISTRO=$ROS_DISTRO"

ls /opt/ros

ROS_DISTRO=humble

humble

jetson@uiabot5:~$ cd ~/dai_ws/src/depthai-ros

git rev-parse --abbrev-ref HEAD

git rev-parse --short HEAD

kilted

32629ab

jetson@uiabot5:~/dai_ws/src/depthai-ros$ cd ..

jetson@uiabot5:~/dai_ws/src$ cd ..

jetson@uiabot5:~/dai_ws$ cd ..

jetson@uiabot5:~$ echo "checking cv_bridge for $ROS_DISTRO"

apt list --installed "ros-$ROS_DISTRO-cv-bridge" 2>/dev/null || true

ros2 pkg list | grep -E '^cv_bridge$' || echo "cv_bridge not found via ros2 pkg"

checking cv_bridge for humble

Listing... Done

ros-humble-cv-bridge/jammy,now 3.2.1-1jammy.20251010.053643 arm64 [installed]

cv_bridge

jetson@uiabot5:~$

Aaaah we have kilted depthai-ros repo instead of humble?

We followed these instructions:

https://docs.luxonis.com/software/ros/depthai-ros/build/

Could you maby send the correct repo so we dont get it wrong again? much appreciated!

MichaelOlson

Vladikb This is a dependacy issue; it looks like you are running Ubuntu 22.

Jetpack 6 is the latest avilable for Jetson devices; it will only support up to Ubuntu 22; Jetpack 7 will enable Unbutu 24 but is not out yet: (https://developer.nvidia.com/embedded/develop/roadmap).

The ROS2 Kilted release requires a minimum of Ubuntu 24; this means you can not yet install Kilted on a Jetson device (custom compiling Kilted has failed for me multiple times on a Jetson Orin NX and may not be possible without heavy modification.)

You should be able to use the Humble branch of the DepthAI ROS driver (git switch humble) and packages should align for Kilted around Q2 of 2026 to my understanding.

Vladikb

Hi MichaelOlson, thanks for your reply 🙂 the installation worked fine and we were able to install everything.

Now we are running into another problem:

On the DevPC the node (dephtai_ros_driver) is running perfectly fine and all the needed data (Image and Pointcloud2) are visible in Rviz2. The data gets published with ~30 Hz. On the Jetson the same launch file is used and it's running:

jetson@uiabot5:~/dai_ws$ ros2 launch depthai_ros_driver pointcloud.launch.py params_file:=/home/jetson/dai_ws/install/depthai_ros_driver/share/depthai_ros_driver/config/pcl_min.y

aml

[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2025-11-25-11-16-48-435733-uiabot5-4144

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

[INFO] [component_container-1]: process started with pid [4163]

[component_container-1] [INFO] [1764065809.119235250] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so

[component_container-1] [INFO] [1764065809.125354527] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>

[component_container-1] [INFO] [1764065809.125436544] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>

[component_container-1] [INFO] [1764065809.148130717] [oak_state_publisher]: got segment oak

[component_container-1] [INFO] [1764065809.148279199] [oak_state_publisher]: got segment oak-d-base-frame

[component_container-1] [INFO] [1764065809.148315615] [oak_state_publisher]: got segment oak_imu_frame

[component_container-1] [INFO] [1764065809.148336992] [oak_state_publisher]: got segment oak_left_camera_frame

[component_container-1] [INFO] [1764065809.148356032] [oak_state_publisher]: got segment oak_left_camera_optical_frame

[component_container-1] [INFO] [1764065809.148373632] [oak_state_publisher]: got segment oak_model_origin

[component_container-1] [INFO] [1764065809.148395200] [oak_state_publisher]: got segment oak_rgb_camera_frame

[component_container-1] [INFO] [1764065809.148412672] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame

[component_container-1] [INFO] [1764065809.148430017] [oak_state_publisher]: got segment oak_right_camera_frame

[component_container-1] [INFO] [1764065809.148446593] [oak_state_publisher]: got segment oak_right_camera_optical_frame

[component_container-1] [INFO] [1764065809.155545850] [oak_container]: Load Library: /home/jetson/dai_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'

[component_container-1] [INFO] [1764065809.328051887] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>

[component_container-1] [INFO] [1764065809.329546690] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>

[component_container-1] [INFO] [1764065809.341185556] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'

[component_container-1] [INFO] [1764065809.350694379] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>

[component_container-1] [INFO] [1764065809.351826553] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>

[component_container-1] [INFO] [1764065809.352487618] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>

[component_container-1] [INFO] [1764065809.353088265] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>

[component_container-1] [INFO] [1764065809.353652720] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyz' in container 'oak_container'

[component_container-1] [INFO] [1764065810.343766101] [oak]: Starting camera.

[component_container-1] [INFO] [1764065810.348790420] [oak]: No ip/mxid specified, connecting to the next available device.

[component_container-1] [INFO] [1764065812.794675629] [oak]: Camera with MXID: 1944301031787E4800 and Name: 1.2.1.3 connected!

[component_container-1] [INFO] [1764065812.795665049] [oak]: USB SPEED: SUPER

[component_container-1] [INFO] [1764065812.842432962] [oak]: Device type: OAK-D-PRO-W

[component_container-1] [INFO] [1764065812.845744747] [oak]: Pipeline type: RGBD

[component_container-1] [INFO] [1764065813.331573344] [oak]: Finished setting up pipeline.

[component_container-1] [INFO] [1764065814.778476681] [oak]: Camera ready!

when we check the "ros2 topic hz" this is the output:
jetson@uiabot5:~/dai_ws$ ros2 topic hz /oak/points

average rate: 0.466

min: 2.112s max: 2.178s std dev: 0.03280s window: 2

average rate: 0.472

min: 2.059s max: 2.178s std dev: 0.04853s window: 3

average rate: 0.483

min: 1.926s max: 2.178s std dev: 0.09274s window: 4

jetson@uiabot5:~/dai_ws$ ros2 topic hz /oak/stereo/image_raw

WARNING: topic [/oak/stereo/image_raw] does not appear to be published yet

average rate: 3.245

min: 0.104s max: 0.526s std dev: 0.13920s window: 5

average rate: 2.845

min: 0.104s max: 0.572s std dev: 0.13942s window: 8

average rate: 3.263

min: 0.104s max: 0.572s std dev: 0.13681s window: 13

jetson@uiabot5:~/dai_ws$ ros2 topic hz /oak/rgb/image_raw

average rate: 0.813

min: 0.372s max: 2.932s std dev: 1.20344s window: 3

average rate: 0.426

min: 0.372s max: 5.703s std dev: 2.19959s window: 4

average rate: 0.442

min: 0.372s max: 5.703s std dev: 2.03872s window: 6

jetson@uiabot5:~/dai_ws$

we already tried to reduce the resolution in the launch file:

/**:

ros__parameters:

camera:

i_nn_type: 'none'

i_pipeline_type: 'RGBD'

pipeline_gen: i_enable_imu: false
left: i_resolution: '400P'i_fps: 30.0
right: i_resolution: '400P' i_fps: 30.0
stereo: i_resolution: '400P' i_align_depth: true i_fps: 30.0
i_subpixel: true i_lr_check: false i_extended_disparity: false

The image is visible in Rviz2 but not the Pointcloud2. The image is updating very slowly (nearly every 40 seconds). Is the Pointcloud not visible because of the low publishing speed? Does anyone know how we can achieve a faster image/pointcloud update?

Is the Jetson too weak for that (it's already running in performance mode and with the top command it doesn't look too busy; so the performance is probably not the problem)?

Luxonis-Adam

Hi @Vladikb, few questions:

Is the device powered separately via USB Y-adaper?
Is the driver build in release mode?
What DDS are you using?
Have you tried running the driver in localhost mode?
Are you running ros2 topic hz on Jetson, or on external PC?
Are you displaying data in Rviz over WiFi?