Issue with launching depthai_ros_driver camera.launch.py [Oak-D Pro POE camera]

[feykenews]

I'm trying to launch a camera from the depthai_ros_driver package per https://docs.luxonis.com/software/ros/depthai-ros/driver/. I'm having an issue where I'm able to get the camera's ip address and successfully connect to it, but then it just says, "Loaded node '/oak' in container 'oak_container'." I searched in the repository via VSCode and couldn't find a node with that name. Is this expected behavior? If so, where should I look for this node and what do I do with it when I find it?

Here's what launching the camera does:

name@desktop:~/ws_depthai/dai_ws/src/depthai-ros$ ros2 launch depthai_ros_driver camera.launch.py
[INFO] [launch]: All log files can be found below /home/name/.ros/log/2024-06-18-13-12-49-961692-desktop-1292300
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1292338]
[component_container-1] [INFO] [1718734370.448255034] [oak_container]: Load Library: /opt/ros/iron/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1718734370.454502138] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1718734370.454551342] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1718734370.459590487] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1718734370.459608154] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1718734370.459611257] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1718734370.459613407] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1718734370.459615672] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1718734370.459617727] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1718734370.459619772] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1718734370.459621936] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1718734370.459624001] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1718734370.459625991] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-1] [INFO] [1718734370.460745960] [oak_container]: Load Library: /home/name/ws_depthai/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] [1718734370.505782784] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1718734370.505831962] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1718734370.511029297] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2024-06-18 13:12:51.137] [depthai] [warning] [1844301011869A0F00] [192.168.1.97] Flashed bootloader version 0.0.25, less than 0.0.28 is susceptible to bootup/restart failure. Upgrading is advised, flashing main/factory (not user) bootloader. Available: 0.0.28
[component_container-1] [INFO] [1718734380.365596282] [oak]: Camera with MXID: 1844301011869A0F00 and Name: 192.168.1.97 connected!
[component_container-1] [INFO] [1718734380.365700900] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-1] [INFO] [1718734380.415534441] [oak]: Device type: OAK-D-PRO-POE
[component_container-1] [INFO] [1718734380.421696056] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1718734380.662856214] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1718734380.706740088] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1718734380.962068393] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1718734383.746145890] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'

[Serafadam]

Hi, according to the logs everything that you posted launches correctly. Not sure what do you mean by searching for node, /oak just refers to a name which is given to this composable node that is being launched by the /oak_container. More information on composition can be found here