Get Depth Image and topics

[AncientGrey]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Built from Source

Package version

ros-humble-turtlebot4-turtlebot4_robot

Type of issue

Camera

Expected behaviour

Recieve Depth topic in Rviz and view depth image

Actual behaviour

Camera is not starting

Error messages

Nov 21 21:00:09 ubuntu turtlebot4-start[1112]: [joint_state_publisher-8] [INFO] [1700600409.710459042] [blastoise.joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
Nov 21 21:00:12 ubuntu turtlebot4-start[1112]: [component_container-6] [INFO] [1700600412.662308717] [blastoise.oakd]: Camera with MXID: 18443010B162BC0800 and Name: 1.1.2 connected!
Nov 21 21:00:12 ubuntu turtlebot4-start[1112]: [component_container-6] [INFO] [1700600412.663868408] [blastoise.oakd]: USB SPEED: SUPER
Nov 21 21:00:12 ubuntu turtlebot4-start[1112]: [component_container-6] [INFO] [1700600412.695560891] [blastoise.oakd]: Device type: OAK-D-PRO
Nov 21 21:00:12 ubuntu turtlebot4-start[1112]: [component_container-6] [INFO] [1700600412.700948703] [blastoise.oakd]: Pipeline type: RGBD
Nov 21 21:00:13 ubuntu turtlebot4-start[1112]: [component_container-6] [INFO] [1700600413.174712718] [blastoise.oakd]: Finished setting up pipeline.
Nov 21 21:00:13 ubuntu turtlebot4-start[1112]: [component_container-6] [INFO] [1700600413.178229506] [blastoise.oakd]: Saving pipeline schema to: /tmp/18443010B162BC0800_pipeline.json
Nov 21 21:00:17 ubuntu turtlebot4-start[1112]: [component_container-6] [18443010B162BC0800] [1.1.2] [1700600417.479] [host] [warning] Device crashed, but no crash dump could be extracted.
Nov 21 21:00:19 ubuntu turtlebot4-start[1112]: [component_container-6] [ERROR] [1700600419.071206213] [blastoise.oakd_container]: Component constructor threw an exception: Device already closed or disconnected: Input/output error
Nov 21 21:00:19 ubuntu turtlebot4-start[1112]: [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oakd' of type 'depthai_ros_driver::Camera' in container '/blastoise/oakd_container': Component constructor threw an exception: Device already closed or disconnected

To Reproduce

/oakd:
  ros__parameters:
    camera:
      i_calibration_dump: false
      i_enable_imu: true
      i_enable_ir: true
      i_external_calibration_path: ''
      i_floodlight_brightness: 400
      i_ip: ''
      i_laser_dot_brightness: 800
      i_mx_id: ''
      i_nn_type: none
      i_pipeline_dump: true
      i_pipeline_type: RGBD
      i_publish_tf_from_calibration: false
      i_restart_on_diagnostics_error: 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_camera_model: ''
      # i_tf_camera_name: oak
      # i_tf_custom_urdf_location: ''
      # i_tf_custom_xacro_args: ''
      i_tf_imu_from_descr: 'true'
      # i_tf_parent_frame: oak-d-base-frame
      # i_usb_port_id: ''
      i_usb_speed: SUPER_PLUS
    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_enable_preview: 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: 720
      i_interleaved: false
      i_isp_den: 3
      i_isp_num: 2
      i_keep_preview_aspect_ratio: true
      i_low_bandwidth: false
      i_low_bandwidth_quality: 50
      i_max_q_size: 30
      i_output_isp: true
      i_preview_height: 300
      i_preview_size: 300
      i_preview_width: 300
      i_publish_topic: true
      i_resolution: 1080P
      i_reverse_stereo_socket_order: false
      i_sensor_img_orientation: AUTO
      i_set_isp3a_fps: false
      i_set_isp_scale: true
      i_simulate_from_topic: false
      i_simulated_topic_name: ''
      i_update_ros_base_time_on_ros_msg: false
      i_width: 1280
      r_exposure: 20000
      r_focus: 1
      r_iso: 800
      r_set_man_exposure: false
      r_set_man_focus: false
      r_set_man_whitebalance: false
      r_whitebalance: 3300
    imu:
      i_acc_cov: 0.0
      i_acc_freq: 400
      i_batch_report_threshold: 5
      i_enable_rotation: false
      i_get_base_device_timestamp: false
      i_gyro_cov: 0.0
      i_gyro_freq: 400
      i_mag_cov: 0.0
      i_max_batch_reports: 10
      i_message_type: IMU
      i_rot_cov: -1.0
      i_sync_method: LINEAR_INTERPOLATE_ACCEL
      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: 720
      i_low_bandwidth: false
      i_low_bandwidth_quality: 50
      i_max_q_size: 30
      i_publish_topic: true
      i_resolution: 720P
      i_reverse_stereo_socket_order: false
      i_sensor_img_orientation: AUTO
      i_set_isp3a_fps: false
      i_simulate_from_topic: true
      i_simulated_topic_name: '/text/left'
      i_update_ros_base_time_on_ros_msg: false
      i_width: 1280
      r_exposure: 1000
      r_iso: 800
      r_set_man_exposure: 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: 720
      i_low_bandwidth: false
      i_low_bandwidth_quality: 50
      i_max_q_size: 30
      i_publish_topic: true
      i_resolution: 720P
      i_reverse_stereo_socket_order: false
      i_sensor_img_orientation: AUTO
      i_set_isp3a_fps: false
      i_simulate_from_topic: false
      i_simulated_topic_name: ''
      i_update_ros_base_time_on_ros_msg: false
      i_width: 1280
      r_exposure: 1000
      r_iso: 800
      r_set_man_exposure: false
    stereo:
      i_add_exposure_offset: false
      i_align_depth: true
      i_bilateral_sigma: 0
      i_board_socket_id: 0
      i_depth_filter_size: 5
      i_depth_preset: HIGH_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: false
      i_enable_lazy_publisher: true
      i_enable_spatial_filter: false
      i_enable_spatial_nn: 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_get_base_device_timestamp: false
      i_height: 720
      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_quality: 50
      i_left_socket_id: 1
      i_low_bandwidth: false
      i_low_bandwidth_quality: 50
      i_lr_check: true
      i_lrc_threshold: 10
      i_max_q_size: 30
      i_output_disparity: false
      i_publish_left_rect: false
      i_publish_right_rect: false
      i_publish_synced_rect_pair: false
      i_publish_topic: true
      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_quality: 50
      i_right_socket_id: 2
      i_set_disparity_to_depth_use_spec_translation: false
      i_set_input_size: false
      i_socket_name: rgb
      i_spatial_nn_source: right
      i_stereo_conf_threshold: 240
      i_subpixel: false
      i_update_ros_base_time_on_ros_msg: false
      i_width: 1280
    use_sim_time: false``

Other notes

I was looking for a full config for the Oak-D Pro camera. If i change the pipeline type to anything apart from 'RGB' the Launch fails with an Error.
I would like to use the depth data of the camera to approach objects.
Following are my config parameters of the oakd:pro.yaml file and the Error of the launch.