ros2 jazzy turtlebot4 has not depth topics

[orangelee89]

ros2 : jazzy
device : oakd-pro-w

when I run
ros2 launch turtlebot4_bringup lite.launch.py
or
** ros2 launch turtlebot4_bringup oakd.launch.py **
I got topics without depth

in the ttbot4 launch file

but wen I run
ros2 launch turtlebot4_bringup oakd_example.launch.py

ros2 launch depthai_examples stereo_inertial_node.launch.py
I'm able to get depth topic

[Serafadam]

Hi, those two launch files (ros2 launch turtlebot4_bringup lite.launch.py and ros2 launch turtlebot4_bringup oakd.launch.py) use config files that have only rgb pipeline type enabled (links here and here respectively), to enable depth topics you would need to modify the pipeline_type parameter to, for example RGBD. More information on pipeline types can be found here
ros2 launch turtlebot4_bringup oakd_example.launch.py
launches rgb_stereo_node, which is a premade example pipeline, not the default driver.

[orangelee89]

so basically, what I have to do is change i_pipeline_type: RGB to i_pipeline_type: RGBD in turtlebot4_bringup/config/oakd_pro.yaml?

[orangelee89]

since I change turtlebot4_bringup/config/oakd_pro.yaml as below

I got the result like:

[Serafadam]

Hi, it seems there is an issue with connection, you can enable additional logs by running export DEPTHAI_DEBUG=1

[orangelee89]

hi, now I have other question that there is a big delay on /ttbot1/oakd/rgb/image_raw topic when I saw the topic in rviz2

[orangelee89]

but when I use /ttbot1/oakd/rgb/preview/image_raw ,it’s showing real time

[orangelee89]

and When I use ros2 , which RGB and Depth image is recommended to use

[orangelee89]

since I change turtlebot4_bringup/config/oakd_pro.yaml as below
( i_enable_preview: true. change to false)

the raw rgb iamge topic is batter ,but , I can’t the /stereo/image_raw topic