Jazzy Turtlebot4 power_save feature triggers Oak-D-Lite depthai_ros_driver issue - 10 March still Luxonis issue

[slowrunner]

Robot Model

Turtlebot4 Lite

ROS distro

Jazzy

Networking Configuration

Discovery Server

OS

Ubuntu 24.04 (on Raspberry Pi 5)

Built from source or installed?

Installed

Package version

ros-jazzy-depthai-ros-driver 2.10.3-1noble.20241228.074725 arm64

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ dpkg -l | grep turtlebot4*
ii ros-jazzy-turtlebot4-base 2.0.1-2noble.20241228.002030 arm64 Turtlebot4 Base Node
ii ros-jazzy-turtlebot4-bringup 2.0.1-2noble.20241228.080750 arm64 Turtlebot4 Robot Bringup
ii ros-jazzy-turtlebot4-description 2.0.1-1noble.20241228.043050 arm64 Turtlebot4 Description package
ii ros-jazzy-turtlebot4-diagnostics 2.0.1-2noble.20241228.015204 arm64 Turtlebot4 Diagnostics
ii ros-jazzy-turtlebot4-msgs 2.0.1-1noble.20241227.231937 arm64 Turtlebot4 Messages
ii ros-jazzy-turtlebot4-navigation 2.0.1-1noble.20241229.075007 arm64 Turtlebot4 Navigation
ii ros-jazzy-turtlebot4-node 2.0.1-1noble.20241228.001437 arm64 Turtlebot4 Node
ii ros-jazzy-turtlebot4-robot 2.0.1-2noble.20241228.082418 arm64 Turtlebot4 Robot Metapackage
ii ros-jazzy-turtlebot4-setup 2.0.2-1noble.20241227.234705 arm64 Turtlebot4 setup scripts
ii ros-jazzy-turtlebot4-tests 2.0.1-2noble.20241227.232435 arm64 Turtlebot4 System Tests

Type of issue

Camera

Expected behaviour

With default power_saver: true, undocking will cause the turtlebot4_node to call the oakd container start_camera, which will resume /oakd/rgb/preview/image_raw publishing

Actual behaviour

Due to an issue only in the Jazzy depthai_ros_driver package, the stop_camera / start_camera sequence will cause the driver to spin at 100% CPU and never issue a response and never resumes publishing.

Error messages

No error message.
- no response to /start_camera service call
- CPU for oakd container jumps from 3% to 100%
- /oakd/rgb/preview/image_raw does not resume being published when turtlebot4 undocks

To Reproduce

See luxonis/depthai-ros#657 (comment)

or dock turtlebot4 lite running Jazzy, then undock when battery fully charged.

Other notes

workarounds:

• kill the oakd container and launch the camera manually while turtlebot4 is off the dock, kill camera when done using before next docking
• set power_save: false in /opt/ros/jazzy/share/turtlebot_bringup/config/turtlebot4.yaml and turtlebot4-service-restart
  (this will extend charging by about an extra hour but the camera will stay alive)
• build depthai overlay from branch mentioned in Luxonis issue, and configure turtlebot to use overlay

[hilary-luo]

@slowrunner Thanks for sharing the details here!

[slowrunner]

Checked on this - new merge 5 days ago - not in released package yet.

[slowrunner]

Latest Jazzy depthai updates were released yesterday - issue remains - Turtlebot4 still cannot use power_save feature:

luxonis/depthai-ros#657 (comment)

[slowrunner]

Luxonis says this issue is non-deterministic and has created an issue with rclcpp:

ros2/rclcpp#2763