I realize that after resetting my Jetson Orin or if the camera crashes due to CPU overload, I cannot start the camera directly from this launch file.
ros2 launch depthai_ros_driver camera.launch.py
[INFO] [launch]: All log files can be found below /home/emage/.ros/log/2025-11-27-12-06-47-178496-ubuntu-6642
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [6657]
[component_container-1] [INFO] [1764216407.755519272] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1764216407.760061568] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1764216407.760138078] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1764216407.839018142] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1764216407.839140186] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1764216407.839153081] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1764216407.839159737] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1764216407.839166041] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1764216407.839172024] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1764216407.839178360] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1764216407.839184504] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1764216407.839190328] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1764216407.839196024] [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] [1764216407.843744752] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1764216407.968499859] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1764216407.968630734] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1764216407.975513872] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1764216407.980558294] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1764216407.980672657] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container '/oak_container'
[component_container-1] [INFO] [1764216408.586149344] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1764216408.586290010] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [WARN] [1764216408.586661869] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container-1] [INFO] [1764216408.655988685] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1764216408.656136104] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1764216408.656150023] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1764216408.656158695] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1764216408.656166887] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1764216408.656174566] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1764216408.656181766] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1764216408.656188934] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1764216408.656195686] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1764216408.656202629] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-1] [INFO] [1764216408.660885592] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1764216408.660977301] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [WARN] [1764216408.661199693] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container-1] [INFO] [1764216408.667881398] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1764216408.667955379] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [WARN] [1764216408.668116525] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container-1] [WARN] [1764216408.776449774] [oak_container.rclcpp]: failed to send response to /oak_container/_container/load_node (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314
[component_container-1] [ERROR] [1764216408.777729311] [oak_container]: Could not find requested resource in ament index
[component_container-1] [WARN] [1764216408.877990569] [oak_container.rclcpp]: failed to send response to /oak_container/_container/load_node (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314
[component_container-1] [ERROR] [1764216408.878880616] [oak_container]: Could not find requested resource in ament index
[component_container-1] [WARN] [1764216408.979083061] [oak_container.rclcpp]: failed to send response to /oak_container/_container/load_node (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314
[component_container-1] [INFO] [1764216408.981841679] [oak]: Starting camera.
[component_container-1] [INFO] [1764216408.988995783] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1764216412.014010928] [oak]: Camera with MXID: 19443010010DFB4800 and Name: 1.4.2 connected!
[component_container-1] [INFO] [1764216412.015039626] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1764216412.062001539] [oak]: Device type: OAK-D-PRO-W
[component_container-1] [INFO] [1764216412.064482023] [oak]: Pipeline type: RGBD
[component_container-1] terminate called after throwing an instance of 'std::out_of_range'
[component_container-1] what(): _Map_base::at
[ERROR] [component_container-1]: process has died [pid 6657, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].
```
However, I can use this file to start the camera with ~/depthai-python/utilities/device_manager.py. Later, I can restart the camera again.
ros2 launch depthai_ros_driver camera.launch.py
[INFO] [launch]: All log files can be found below /home/emage/.ros/log/2025-11-27-12-14-06-557967-ubuntu-7284
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [7299]
[component_container-1] [INFO] [1764216847.141731509] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1764216847.146679154] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1764216847.146750927] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1764216847.235687035] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1764216847.235807158] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1764216847.235821781] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1764216847.235830485] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1764216847.235838229] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1764216847.235845556] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1764216847.235852916] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1764216847.235860372] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1764216847.235867283] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1764216847.235874323] [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] [1764216847.240851695] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1764216847.370173633] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1764216847.370303964] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1764216847.376739678] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
[component_container-1] [INFO] [1764216847.379348151] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1764216847.379396437] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container '/oak_container'
[component_container-1] [INFO] [1764216848.377485063] [oak]: Starting camera.
[component_container-1] [INFO] [1764216848.382024180] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1764216851.052536506] [oak]: Camera with MXID: 19443010010DFB4800 and Name: 1.4.2 connected!
[component_container-1] [INFO] [1764216851.053498228] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1764216851.101983675] [oak]: Device type: OAK-D-PRO-W
[component_container-1] [INFO] [1764216851.105038178] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1764216851.557944785] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1764216851.808877730] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1764216852.101280367] [oak]: Finished setting up pipeline.
[component_container-1] [19443010010DFB4800] [1.4.2] [2.237] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
[component_container-1] [INFO] [1764216852.865064175] [oak]: Camera ready!
I believe the issue is a software problem since I don’t need to physically interact with the camera to make it work. After a reset or crash, I expect to be able to start directly from the launch file without having to first run a Python script and return. It shouldn’t operate that way.
MXID: 19443010619BFB4800, 1944301071EFFA4800, 19443010010DFB4800
Ubuntu: 22.04
ROS Version: Humble
Depthai version: 2.30.0.0.dev0+aee44bc7fe0c76bea9555bbe6123a443c8478f65
