Hi,
I am using DEPTHAI_VERSION=2.30.0 and DEPTHAI_ROS_VERSION=v2.11.2-noetic. I launch the driver using: roslaunch depthai_ros_driver camera.launch name:=$CAMERA_NAME params_file:=$CONFIG_FILE_PATH
As described in the documentation, I have set camera_i_publish_tf_from_calibration: true.
The Issue: When running rosrun rqt_tf_tree rqt_tf_tree before subscribing to any camera topics (e.g., rgb/camera_info), the TF tree appears to show a default Luxonis structure (with oak-d-base-frame as the parent, ignoring my custom parent frame). The TF tree only updates to the correct, calibration-based structure after I subscribe to a camera topic.
Is this "lazy loading" of the TF tree intended behavior, or is it a bug? Is there a way to ensure the correct TF tree is published immediately upon node startup without requiring an active subscriber? I would like to keep lazy_publlishing of rgb and stereo nodes.
