Adam Serafin

Hi, the DepthAI library has a different convention for stereo pair (in OpenCV/ROS format, the "first" sensor is the left one, whereas in DepthAI it is the right one), so...

Hi, I think the differences between could be caused by different configurations inside RTABMap but I can't be sure. Did you try to run the driver from `depthai_ros_driver`?

Hi, for that you would need to modify the code of `stereo_inertial_node.cpp` to switch the baselines around

Hi, for switching them I think you would need to call [reverseStereoSocketOrder](https://github.com/luxonis/depthai-ros/blob/9132443a85381f118e75d8583df3d9e764a91b7a/depthai_bridge/include/depthai_bridge/ImageConverter.hpp#L81) on respective image converters. You also can use `depthai_ros_driver` to publish stereo images, with that it's only a...

Hi, thanks for the report, this should be fixed in the next release (2.10.2)

Hi, this configuration is just dynamic reconfigure panel from RQT

Hi, would it be possible for you to share your code? I think the most straightforward solution would be to create your own node based on `spatial_bb`, since then you...

Hi, could you fill out the debug information?

On what distribution does this happen? What is you PC configuration and network setup? If using DDS, which one? Does this happen when running depthai_ros_drivers' executable, or stereo_inertial_node? Is the...

Hi, this is most likely the result of the transport layer, unfortunately in ROS2 transferring large images/pointclouds has additional overhead. This can be reduced either by [tuning DDS ](https://docs.ros.org/en/jazzy/How-To-Guides/DDS-tuning.html), using...