Cannot display with rviz2 point cloud when launching camera.launch.py

[DanieleMarchisotti]

Describe the bug
I cannot display point cloud with rviz2 when launching camera.launch.py.

ros2 launch depthai_ros_driver camera.launch.py

I get the following error:

[point_cloud_xyzrgb_node]: New subscription discovered on topic '/oak/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

then if I change HistoryPolicy and ReliabilityPolicy to "System Default" and "Best Effort" respectively on rviz2, I get the following:

Message Filter dropping message: frame 'oak_rgb_camera_optical_frame' at time 1738687835.953 for reason 'discarding message because the queue is full'

This is my camera.yaml file:

/**:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: true
      i_nn_type: spatial
      i_pipeline_type: RGBD
      i_enable_sync: true
    right:
      i_publish_topic: true
    left:
      i_publish_topic: true
    nn:
      i_nn_config_path: depthai_ros_driver/mobilenet
    pipeline_gen:
      i_enable_sync: true
    imu:
      i_enable_rotation: true
      i_get_base_device_timestamp: true
    rgb:
      i_publish_topic: true
    stereo:
      i_publish_topic: true
      i_synced: true

However, it seems that with ros2 topic echo /oak/points it is possible to see the list of points of the point cloud.
Is it correct? How can I see the point cloud with camera.launch.py?

[Serafadam]

Hi, this is most likely caused by using default base frame in Rviz (or using one that is not connected to OAK model), you need to change it to one of the oak frames, they will be available in the dropdown menu.

[DanieleMarchisotti]

You are right, now it works. Closing