Thanks Oskar.
Ran unmodified spatial_bb.launch.pywith no params_fileand, no overrides. Same error. Full log, ros2 param dmp /oak, and version info attached.
All ROS v3 packages are 3.2.1 and the core is 3.6.1, both from apt. The v2 package is not installed. My pip venv (3.10.0) is separate and is not involved in the ROS path.
ros-jazzy-depthai-ros-driver-v3 3.2.1-1noble.20260715.015034
ros-jazzy-depthai-bridge-v3 3.2.1-1noble.20260618.175305
ros-jazzy-depthai-filters-v3 3.2.1-1noble.20260615.150222
ros-jazzy-depthai-v3 (core) 3.6.1-2noble.20260506.134014
ros-jazzy-depthai (v2) not installed
rdev@RDevPC:~$ ros2 param dump /oak
/oak:
ros__parameters:
driver:
i_calibration_dump: false
i_device_id: ''
i_enable_ir: true
i_external_calibration_path: ''
i_ip: ''
i_pipeline_auto_calibration_mode: ''
i_pipeline_dump: false
i_publish_tf_from_calibration: true
i_restart_on_diagnostics_error: false
i_rs_compat: false
i_tf_base_frame: oak
i_tf_cam_pitch: '0.0'
i_tf_cam_pos_x: '0.0'
i_tf_cam_pos_y: '0.0'
i_tf_cam_pos_z: '0.0'
i_tf_cam_roll: '0.0'
i_tf_cam_yaw: '0.0'
i_tf_custom_urdf_location: ''
i_tf_custom_xacro_args: ''
i_tf_device_model: ''
i_tf_device_name: oak
i_tf_imu_from_descr: 'false'
i_tf_parent_frame: oak_parent_frame
i_usb_port_id: ''
i_usb_speed: SUPER
r_floodlight_intensity: 0.6000000238418579
r_laser_dot_intensity: 0.6000000238418579
imu:
i_acc_cov: 0.0
i_acc_freq: 480
i_acc_mode: ACCELEROMETER_UNCALIBRATED
i_batch_report_threshold: 5
i_enable_acc: true
i_enable_gyro: true
i_enable_mag: false
i_enable_rotation: false
i_get_base_device_timestamp: false
i_gyro_cov: 0.0
i_gyro_freq: 400
i_gyro_mode: GYROSCOPE_UNCALIBRATED
i_mag_cov: 0.0
i_max_batch_reports: 10
i_max_q_size: 8
i_message_type: IMU
i_rot_cov: 0.0
i_sync_method: COPY
i_update_ros_base_time_on_ros_msg: false
left:
i_add_exposure_offset: false
i_board_socket_id: 1
i_calibration_file: ''
i_disable_node: false
i_enable_feature_tracker: false
i_enable_lazy_publisher: true
i_enable_nn: false
i_exposure_offset: 0
i_fps: 30.0
i_fsync_continuous: false
i_fsync_trigger: false
i_get_base_device_timestamp: false
i_height: 400
i_low_bandwidth: false
i_low_bandwidth_bitrate: 0
i_low_bandwidth_ffmpeg_encoder: libx264
i_low_bandwidth_frame_freq: 30
i_low_bandwidth_profile: 4
i_low_bandwidth_quality: 50
i_max_q_size: 8
i_publish_compressed: false
i_publish_full_resolution: false
i_publish_topic: false
i_resize_mode: CROP
i_reverse_stereo_socket_order: false
i_simulate_from_topic: false
i_simulated_topic_name: ''
i_synced: false
i_undistorted: true
i_update_ros_base_time_on_ros_msg: false
i_use_max_resolution_possible: false
i_width: 640
r_auto_exp_region_height: 0
r_auto_exp_region_start_x: 0
r_auto_exp_region_start_y: 0
r_auto_exp_region_width: 0
r_auto_exposure_limit: 1000
r_chroma_denoise: 1
r_exposure: 1000
r_iso: 800
r_luma_denoise: 1
r_set_auto_exp_region: false
r_set_auto_exposure_limit: false
r_set_chroma_denoise: false
r_set_luma_denoise: false
r_set_man_exposure: false
r_set_man_focus: false
r_set_man_whitebalance: false
r_set_sharpness: false
r_sharpness: 1
nn:
i_board_socket_id: 0
i_bounding_box_scale_factor: 0.5
i_depth_lower_threshold: 100
i_enable_passthrough: true
i_enable_passthrough_depth: true
i_get_base_device_timestamp: false
i_max_q_size: 8
i_nn_confidence_threshold: 0.5
i_nn_family: detection
i_nn_model: yolov6-nano
i_update_ros_base_time_on_ros_msg: false
i_upper_depth_threshold: 10000
oak:
nn:
passthrough:
image_raw:
compressed:
format: jpeg
jpeg_quality: 95
png_level: 3
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 3
depth_max: 10.0
depth_quantization: 100.0
enable_pub_plugins:
- image_transport/compressedDepth
- image_transport/compressed
- image_transport/raw
- image_transport/theora
- image_transport/zstd
format: jpeg
jpeg_quality: 95
keyframe_frequency: 64
optimize_for: true
png_level: 3
quality: 31
target_bitrate: 800000
theora:
keyframe_frequency: 64
optimize_for: true
quality: 31
target_bitrate: 800000
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
zstd:
zstd_level: 3
passthrough_depth:
image_raw:
compressed:
format: jpeg
jpeg_quality: 95
png_level: 3
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 3
depth_max: 10.0
depth_quantization: 100.0
enable_pub_plugins:
- image_transport/compressedDepth
- image_transport/compressed
- image_transport/raw
- image_transport/theora
- image_transport/zstd
format: jpeg
jpeg_quality: 95
keyframe_frequency: 64
optimize_for: true
png_level: 3
quality: 31
target_bitrate: 800000
theora:
keyframe_frequency: 64
optimize_for: true
quality: 31
target_bitrate: 800000
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
zstd:
zstd_level: 3
rgb:
image_raw:
compressed:
format: jpeg
jpeg_quality: 95
png_level: 3
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 3
depth_max: 10.0
depth_quantization: 100.0
enable_pub_plugins:
- image_transport/compressedDepth
- image_transport/compressed
- image_transport/raw
- image_transport/theora
- image_transport/zstd
format: jpeg
jpeg_quality: 95
keyframe_frequency: 64
optimize_for: true
png_level: 3
quality: 31
target_bitrate: 800000
theora:
keyframe_frequency: 64
optimize_for: true
quality: 31
target_bitrate: 800000
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
zstd:
zstd_level: 3
pipeline_gen:
i_enable_diagnostics: false
i_enable_imu: true
i_enable_rgbd: true
i_enable_vio: false
i_nn_type: spatial
i_pipeline_type: RGBD
qos_overrides:
/parameter_events:
publisher:
depth: 1000
durability: volatile
history: keep_last
reliability: reliable
/tf_static:
publisher:
depth: 1
history: keep_last
reliability: reliable
rgb:
i_add_exposure_offset: false
i_board_socket_id: 0
i_calibration_file: ''
i_disable_node: false
i_enable_feature_tracker: false
i_enable_lazy_publisher: true
i_enable_nn: false
i_exposure_offset: 0
i_fps: 30.0
i_fsync_continuous: false
i_fsync_trigger: false
i_get_base_device_timestamp: false
i_height: 400
i_low_bandwidth: false
i_low_bandwidth_bitrate: 0
i_low_bandwidth_ffmpeg_encoder: libx264
i_low_bandwidth_frame_freq: 30
i_low_bandwidth_profile: 4
i_low_bandwidth_quality: 50
i_max_q_size: 8
i_publish_compressed: false
i_publish_full_resolution: false
i_publish_topic: true
i_resize_mode: CROP
i_reverse_stereo_socket_order: false
i_simulate_from_topic: false
i_simulated_topic_name: ''
i_synced: false
i_undistorted: true
i_update_ros_base_time_on_ros_msg: false
i_use_max_resolution_possible: false
i_width: 640
r_auto_exp_region_height: 0
r_auto_exp_region_start_x: 0
r_auto_exp_region_start_y: 0
r_auto_exp_region_width: 0
r_auto_exposure_limit: 1000
r_chroma_denoise: 1
r_exposure: 1000
r_iso: 800
r_luma_denoise: 1
r_set_auto_exp_region: false
r_set_auto_exposure_limit: false
r_set_chroma_denoise: false
r_set_luma_denoise: false
r_set_man_exposure: false
r_set_man_focus: false
r_set_man_whitebalance: false
r_set_sharpness: false
r_sharpness: 1
rgbd:
i_board_socket_id: 0
i_get_base_device_timestamp: false
i_max_q_size: 2
i_num_threads: 1
i_publish_topic: true
i_run_align_on_host: true
i_run_sync_on_host: true
i_update_ros_base_time_on_ros_msg: false
right:
i_add_exposure_offset: false
i_board_socket_id: 2
i_calibration_file: ''
i_disable_node: false
i_enable_feature_tracker: false
i_enable_lazy_publisher: true
i_enable_nn: false
i_exposure_offset: 0
i_fps: 30.0
i_fsync_continuous: false
i_fsync_trigger: false
i_get_base_device_timestamp: false
i_height: 400
i_low_bandwidth: false
i_low_bandwidth_bitrate: 0
i_low_bandwidth_ffmpeg_encoder: libx264
i_low_bandwidth_frame_freq: 30
i_low_bandwidth_profile: 4
i_low_bandwidth_quality: 50
i_max_q_size: 8
i_publish_compressed: false
i_publish_full_resolution: false
i_publish_topic: false
i_resize_mode: CROP
i_reverse_stereo_socket_order: false
i_simulate_from_topic: false
i_simulated_topic_name: ''
i_synced: false
i_undistorted: true
i_update_ros_base_time_on_ros_msg: false
i_use_max_resolution_possible: false
i_width: 640
r_auto_exp_region_height: 0
r_auto_exp_region_start_x: 0
r_auto_exp_region_start_y: 0
r_auto_exp_region_width: 0
r_auto_exposure_limit: 1000
r_chroma_denoise: 1
r_exposure: 1000
r_iso: 800
r_luma_denoise: 1
r_set_auto_exp_region: false
r_set_auto_exposure_limit: false
r_set_chroma_denoise: false
r_set_luma_denoise: false
r_set_man_exposure: false
r_set_man_focus: false
r_set_man_whitebalance: false
r_set_sharpness: false
r_sharpness: 1
start_type_description_service: true
stereo:
i_add_exposure_offset: false
i_aligned: true
i_bilateral_sigma: 0
i_board_socket_id: 0
i_calibration_file: ''
i_depth_preset: FAST_ACCURACY
i_disparity_width: DISPARITY_96
i_enable_alpha_scaling: false
i_enable_brightness_filter: false
i_enable_companding: false
i_enable_decimation_filter: false
i_enable_disparity_shift: false
i_enable_distortion_correction: true
i_enable_lazy_publisher: true
i_enable_left_rgbd: false
i_enable_left_spatial_nn: false
i_enable_right_rgbd: false
i_enable_right_spatial_nn: false
i_enable_spatial_filter: false
i_enable_speckle_filter: false
i_enable_temporal_filter: false
i_enable_threshold_filter: false
i_exposure_offset: 0
i_extended_disp: false
i_fps: 30.0
i_get_base_device_timestamp: false
i_height: 400
i_left_rect_add_exposure_offset: false
i_left_rect_enable_feature_tracker: false
i_left_rect_exposure_offset: 0
i_left_rect_low_bandwidth: false
i_left_rect_low_bandwidth_bitrate: 0
i_left_rect_low_bandwidth_ffmpeg_encoder: libx264
i_left_rect_low_bandwidth_frame_freq: 30
i_left_rect_low_bandwidth_profile: 4
i_left_rect_low_bandwidth_quality: 50
i_left_rect_publish_compressed: false
i_left_rect_publish_topic: false
i_left_rect_synced: false
i_left_socket_id: 1
i_low_bandwidth: false
i_low_bandwidth_bitrate: 0
i_low_bandwidth_ffmpeg_encoder: libx264
i_low_bandwidth_frame_freq: 30
i_low_bandwidth_profile: 4
i_low_bandwidth_quality: 50
i_lr_check: true
i_lrc_threshold: 10
i_max_q_size: 8
i_output_disparity: false
i_publish_compressed: false
i_publish_topic: false
i_rectify_edge_fill_color: 0
i_reverse_stereo_socket_order: false
i_right_rect_add_exposure_offset: false
i_right_rect_enable_feature_tracker: false
i_right_rect_exposure_offset: 0
i_right_rect_low_bandwidth: false
i_right_rect_low_bandwidth_bitrate: 0
i_right_rect_low_bandwidth_ffmpeg_encoder: libx264
i_right_rect_low_bandwidth_frame_freq: 30
i_right_rect_low_bandwidth_profile: 4
i_right_rect_low_bandwidth_quality: 50
i_right_rect_publish_compressed: false
i_right_rect_publish_topic: false
i_right_rect_synced: false
i_right_socket_id: 2
i_run_align_on_host: true
i_set_disparity_to_depth_use_spec_translation: false
i_set_input_size: false
i_socket_name: rgb
i_stereo_conf_threshold: 15
i_subpixel: true
i_subpixel_fractional_bits: 3
i_synced: false
i_update_ros_base_time_on_ros_msg: false
i_use_neural_depth: false
i_width: 640
use_sim_time: false
rdev@RDevPC:~/mycobot_ros2$ ros2 launch depthai_filters_v3 spatial_bb.launch.py
[INFO] [launch]: All log files can be found below /home/rdev/.ros/log/2026-09-07-15-13-26-423877-RDevPC-23779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [23797]
[component_container-1] [INFO] [1788774206.988954794] [oak_container]: Load Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1788774207.003159042] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1788774207.003259509] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1788774207.024689896] [oak_state_publisher]: Robot initialized
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'
[component_container-1] [INFO] [1788774207.030272315] [oak_container]: Load Library: /opt/ros/jazzy/lib/libdepthai_ros_driver_v3.so
[component_container-1] [INFO] [1788774207.146041208] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver:😃river>
[component_container-1] [INFO] [1788774207.146075884] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver:😃river>
[component_container-1] [INFO] [1788774207.148868644] [oak_container]: Load Library: /opt/ros/jazzy/lib/libdepthai_filters_v3.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1788774207.157904106] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_filters:😃etection2DOverlay>
[component_container-1] [INFO] [1788774207.157938482] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_filters::FeatureTrackerOverlay>
[component_container-1] [INFO] [1788774207.157943878] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_filters::Features3D>
[component_container-1] [INFO] [1788774207.157947663] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_filters::SegmentationOverlay>
[component_container-1] [INFO] [1788774207.157951848] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_filters::SpatialBB>
[component_container-1] [INFO] [1788774207.157955671] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_filters::SpatialBB>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/spatial_bb_node' in container 'oak_container'
[component_container-1] [INFO] [1788774208.148764439] [oak]: Starting driver.
[component_container-1] [INFO] [1788774208.150598264] [oak]: No ip/ID specified, connecting to the next available device.
[component_container-1] [INFO] [1788774210.986517024] [oak]: Driver with ID: 1944301081A1097E00 and Name: 1.1 connected!
[component_container-1] [INFO] [1788774210.987261559] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1788774211.066242595] [oak]: Device type: OAK-D-LITE
[component_container-1] [INFO] [1788774211.120823239] [oak]: Creating pipeline for device: OAK-D-LITE
[component_container-1] [INFO] [1788774211.120955054] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1788774213.957666941] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1788774214.183214109] [oak]: Published URDF
[component_container-1] [WARN] [1788774215.114074730] [oak]: If you detect any issues with Kilted release, please report issues to GH: luxonis/depthai-ros719
[component_container-1] [INFO] [1788774215.116012750] [oak]: Driver ready!
[component_container-1] [INFO] [1788774215.131285733] [oak_state_publisher]: Robot initialized
[component_container-1] [1944301081A1097E00] [1.1] [5.929] [SpatialLocationCalculator(7)] [critical] ImgDetections transformationData is not aligned to depth frame transformation cannot compute spatial detections. Consider using ImageAlign node and/or setting undistortion beforehand.
