[Issue] Drop publish rate of depth pointcloud

[aminyaa]

I'm using depthai-ros-driver (ros2 humble) and my device is OAK-D-LITE. The problem is, when I run the poitcloud launch file, everything is OK and the publish rate of the pointcloud is about 30 hz. But after a while (almost 20 minuets), the publish rate drops (to almost 1 hz). The camera heats up (I think it is normal), but when I reset the node (rerun the launch poincloud file), everything will be OK and the publish rate is 30 hz, but it drops again after 20 minutes to 1 hz again.

[Serafadam]

Hi, this could be related to your network/DDS implementation, please try changing to another DDS or tune the current one and see if the issues persists.

[advaitp]

Hi I am still facing this issue even when I use Best Effort QoS settings.I am using OAK D Pro W PoE camera and I am getting depth map at around 9 to 10 Hz but when I check the pointcloud topic it falls after around 15 minute to less than 1Hz.I am running "ros2 launch depthai_examples stereo.launch.py" from depthai-ros repository.

[Serafadam]

Hi, have you tried using a different DDS implementation?

[advaitp]

I have not tried different DDS but which DDS implementation will you recommend for this issue