Adam Serafin

Hi, I think it would be best if you go through the steps described in our [bug report template](https://github.com/luxonis/depthai-ros/blob/humble/.github/ISSUE_TEMPLATE/bug_report.md). You can also check [this](https://docs.luxonis.com/hardware/platform/deploy/usb-deployment-guide/#Debugging) page for general information regarding connectivity...

Hi, based on this image I think it is related to odometry losing track of features, this can be cause by fast movements or exposure changes, you can retrigger the...

Hi, I think the major difference is that in the former example `depth` /`disparity` frames are not consumed which might lead to blocking. Also, using queue->get() is a blocking call,...

Hi, I would suggest adding using `depthai_ros_driver` for that as you can just set `left/right.i_publish_topic: true` which should give you color streams, and then use rectify node in ROS to...

Hi, @flabrosse thanks for the report and sorry for the delay, could you test if this [branch works for](https://github.com/luxonis/depthai-ros/tree/wls_fix_humble) you? Also, even though WLS filter "smooths" the depth readings it...

Hi, depending on pipeline load on the device and network settings the IMU data might be delayed, unfortunately right now there isn't a way to prioritize this queue, experimenting with...

Hi, for latency improvements you can also refer to[ this doc page](https://docs.luxonis.com/software/depthai/optimizing/), ROS parameters/logic of normal DAI nodes, usually setting low_bandwidth_mode and reducing image size helps.

Hi, could you check your network settings? With these parameters latency should be negligible so I suspect the issue might be on the network side. I think it would be...

Hi, [here](https://blah.cloud/networks/test-jumbo-frames-working/) you can find some additional information on testing jumbo frames. Additionally, I'm not sure if you already checked it but [here](https://docs.luxonis.com/software/depthai/optimizing#poe-latency) is some additional documentation on PoE cameras...

Hi, could you please post more logs following the [bug template](https://github.com/luxonis/depthai-ros/blob/humble/.github/ISSUE_TEMPLATE/bug_report.md)? You can skip running stereo_inertial_node as this one won't support OAK-D-LR