depthai-ros [BUG] IMU `header.frame_name` generated incorrectly

Describe the bug

camera_node creates the IMU TF frame by prepending the value of the parameter camera.i_tf_base_frame to _imu_frame. So, for example, if camera.i_tf_base_frame:=my_base_tf, it is my_base_tf_imu_frame.

However, in the IMU data header (ie, /my_node_name/imu/data) it incorrectly prepends the node name:

$ ros2 topic echo --once /my_node_name/imu/data
header:
  stamp:
    sec: 1756322044
    nanosec: 405311703
  frame_id: my_node_name_imu_frame
orientation:
...etc

Minimal Reproducible Example

# depthai.launch.py
from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription(
        [
            Node(
                package="depthai_ros_driver",
                executable="camera_node",
                name="my_node_name",
                parameters=[
                    {
                        "camera.i_publish_tf_from_calibration": True,
                        "camera.i_tf_base_frame": "my_base_tf",
                    },
                ],
            )
        ]
    )

Expected behavior

IMU data's header.frame_name should have ${camera.i_tf_base_frame} + _imu_frame

Screenshots

N/A

Pipeline Graph

N/A

Attach system log

Provide output of log_system_information.py

{
    "architecture": "64bit ELF",
    "machine": "x86_64",
    "platform": "Linux-6.14.0-27-generic-x86_64-with-glibc2.39",
    "processor": "x86_64",
    "python_build": "main Jun 18 2025 17:59:45",
    "python_compiler": "GCC 13.3.0",
    "python_implementation": "CPython",
    "python_version": "3.12.3",
    "release": "6.14.0-27-generic",
    "system": "Linux",
    "version": "#27~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 22 17:38:49 UTC 2",
    "win32_ver": "",
    "packages": [
        "action-msgs==2.0.2",
        "actionlib-msgs==5.3.6",
        "actuator-msgs==0.0.1",
        "ament-cmake-google-benchmark==2.5.4",
        "ament-cmake-test==2.5.4",
        "ament-copyright==0.17.2",
        "ament-cppcheck==0.17.2",
        "ament-cpplint==0.17.2",
        "ament-flake8==0.17.2",
        "ament-index-python==1.8.1",
        "ament-lint==0.17.2",
        "ament-lint-cmake==0.17.2",
        "ament-package==0.16.4",
        "ament-pep257==0.17.2",
        "ament-uncrustify==0.17.2",
        "ament-xmllint==0.17.2",
        "angles==1.16.0",
        "appdirs==1.4.4",
        "apriltag-msgs==2.0.1",
        "ar-gripper==0.1.0",
        "ar-gripper-interfaces==0.1.0",
        "argcomplete==3.1.4",
        "aruco-msgs==5.0.5",
        "aruco-opencv-msgs==6.0.2",
        "attrs==23.2.0",
        "Babel==2.10.3",
        "# Editable install with no version control (barbot-app==0.0.0)\n-e /home/ros/dev_ws/build/barbot_app",
        "barbot-interfaces==0.0.0",
        "# Editable install with no version control (barbot-moveit-config==0.0.0)\n-e /home/ros/dev_ws/build/barbot_moveit_config",
        "barbot-perception==0.0.0",
        "bcc==0.29.1",
        "beautifulsoup4==4.12.3",
        "black==24.2.0",
        "blinker==1.7.0",
        "Brlapi==0.8.5",
        "Brotli==1.1.0",
        "btcpp-ros2-interfaces==0.2.0",
        "builtin-interfaces==2.0.2",
        "camera-calibration==5.0.11",
        "catkin-pkg-modules==1.0.0",
        "certifi==2023.11.17",
        "chardet==5.2.0",
        "click==8.1.6",
        "cloud-init==25.1.4",
        "colcon-argcomplete==0.3.3",
        "colcon-bash==0.5.0",
        "colcon-cd==0.2.1",
        "colcon-cmake==0.2.29",
        "colcon-common-extensions==0.3.0",
        "colcon-core==0.20.0",
        "colcon-defaults==0.2.9",
        "colcon-devtools==0.3.0",
        "colcon-installed-package-information==0.2.1",
        "colcon-library-path==0.2.1",
        "colcon-metadata==0.2.5",
        "colcon-notification==0.3.0",
        "colcon-output==0.2.13",
        "colcon-override-check==0.0.1",
        "colcon-package-information==0.4.0",
        "colcon-package-selection==0.2.10",
        "colcon-parallel-executor==0.3.0",
        "colcon-pkg-config==0.1.0",
        "colcon-powershell==0.4.0",
        "colcon-python-setup-py==0.2.9",
        "colcon-recursive-crawl==0.2.3",
        "colcon-ros==0.5.0",
        "colcon-test-result==0.3.8",
        "colcon-zsh==0.5.0",
        "colorama==0.4.6",
        "command-not-found==0.3",
        "composition-interfaces==2.0.2",
        "configobj==5.0.8",
        "contourpy==1.0.7",
        "control-msgs==5.4.1",
        "controller-manager==4.32.0",
        "controller-manager-msgs==4.32.0",
        "coverage==7.4.4",
        "cryptography==41.0.7",
        "cssselect==1.2.0",
        "cupshelpers==1.0",
        "cv-bridge==4.1.0",
        "cycler==0.11.0",
        "dbus-python==1.3.2",
        "decorator==5.1.1",
        "defer==1.0.6",
        "Deprecated==1.2.14",
        "depthai==2.30.0.0",
        "depthai-ros-driver==2.11.2",
        "depthai-ros-msgs==2.11.2",
        "diagnostic-msgs==5.3.6",
        "diagnostic-updater==4.2.6",
        "distlib==0.3.8",
        "distro==1.9.0",
        "distro-info==1.7+build1",
        "docutils==0.20.1",
        "domain-coordinator==0.12.0",
        "empy==3.3.4",
        "ffmpeg-image-transport-msgs==1.0.2",
        "filelock==3.13.1",
        "flake8==7.0.0",
        "flake8-builtins==2.1.0",
        "flake8-comprehensions==3.14.0",
        "flake8-docstrings==1.6.0",
        "flake8-import-order==0.18.2",
        "flake8-quotes==3.4.0",
        "fonttools==4.46.0",
        "foxglove-msgs==3.1.0",
        "fs==2.4.16",
        "fsspec==2025.7.0",
        "generate-parameter-library-py==0.5.0",
        "geographic-msgs==1.0.6",
        "geometry-msgs==5.3.6",
        "gps-msgs==2.1.0",
        "graph-msgs==0.2.0",
        "hf-xet==1.1.8",
        "html5lib==1.1",
        "httplib2==0.20.4",
        "huggingface-hub==0.34.4",
        "idna==3.6",
        "image-geometry==4.1.0",
        "importlib-metadata==4.12.0",
        "iniconfig==1.1.1",
        "interactive-markers==2.5.4",
        "isort==5.6.4",
        "Jinja2==3.1.2",
        "joint-state-publisher==2.4.0",
        "joint-state-publisher-gui==2.4.0",
        "jsonpatch==1.32",
        "jsonpointer==2.0",
        "jsonschema==4.10.3",
        "kiwisolver==0.0.0",
        "language-selector==0.1",
        "lark==1.1.9",
        "laser-geometry==2.7.1",
        "launch==3.4.5",
        "launch-param-builder==0.1.1",
        "launch-pytest==3.4.5",
        "launch-ros==0.26.8",
        "launch-testing==3.4.5",
        "launch-testing-ros==0.26.8",
        "launch-xml==3.4.5",
        "launch-yaml==3.4.5",
        "launchpadlib==1.11.0",
        "lazr.restfulclient==0.14.6",
        "lazr.uri==1.0.6",
        "lifecycle-msgs==2.0.2",
        "louis==3.29.0",
        "lxml==5.2.1",
        "lz4==4.0.2+dfsg",
        "map-msgs==2.4.1",
        "markdown-it-py==3.0.0",
        "MarkupSafe==2.1.5",
        "matplotlib==3.6.3",
        "mccabe==0.7.0",
        "mdurl==0.1.2",
        "message-filters==4.11.6",
        "more-itertools==10.2.0",
        "moveit==0.1.3",
        "moveit-configs-utils==2.14.0",
        "moveit-msgs==2.7.1",
        "moveit-task-constructor-msgs==0.1.3",
        "mpi4py==3.1.5",
        "mpmath==1.3.0",
        "mypy-extensions==1.0.0",
        "nav-msgs==5.3.6",
        "nav2-msgs==1.3.7",
        "netaddr==0.8.0",
        "netifaces==0.11.0",
        "networkx==3.5",
        "notify2==0.3",
        "numpy==1.26.4",
        "nvidia-cublas-cu12==12.8.4.1",
        "nvidia-cuda-cupti-cu12==12.8.90",
        "nvidia-cuda-nvrtc-cu12==12.8.93",
        "nvidia-cuda-runtime-cu12==12.8.90",
        "nvidia-cudnn-cu12==9.10.2.21",
        "nvidia-cufft-cu12==11.3.3.83",
        "nvidia-cufile-cu12==1.13.1.3",
        "nvidia-curand-cu12==10.3.9.90",
        "nvidia-cusolver-cu12==11.7.3.90",
        "nvidia-cusparse-cu12==12.5.8.93",
        "nvidia-cusparselt-cu12==0.7.1",
        "nvidia-nccl-cu12==2.27.3",
        "nvidia-nvjitlink-cu12==12.8.93",
        "nvidia-nvtx-cu12==12.8.90",
        "oauthlib==3.2.2",
        "object-recognition-msgs==2.0.0",
        "octomap-msgs==2.0.1",
        "olefile==0.46",
        "osrf-pycommon==2.1.6",
        "packaging==24.0",
        "pal-statistics==2.6.2",
        "pal-statistics-msgs==2.6.2",
        "pathspec==0.12.1",
        "pcl-msgs==1.0.0",
        "pexpect==4.9.0",
        "pillow==10.2.0",
        "pip==24.0",
        "platformdirs==4.2.0",
        "pluggy==1.4.0",
        "protobuf==4.21.12",
        "psutil==5.9.8",
        "ptyprocess==0.7.0",
        "pycairo==1.25.1",
        "pycodestyle==2.11.1",
        "pycups==2.0.1",
        "pydocstyle==6.3.0",
        "pyflakes==3.2.0",
        "Pygments==2.17.2",
        "PyGObject==3.48.2",
        "pygraphviz==1.7",
        "PyJWT==2.7.0",
        "pyparsing==3.1.1",
        "PyQt5==5.15.10",
        "PyQt5-sip==12.13.0",
        "pyrsistent==0.20.0",
        "pyserial==3.5",
        "pytest==7.4.4",
        "pytest-cov==4.1.0",
        "python-apt==2.7.7+ubuntu3",
        "python-dateutil==2.8.2",
        "python-debian==0.1.49+ubuntu2",
        "python-qt-binding==2.2.1",
        "pytz==2024.1",
        "pyxdg==0.28",
        "PyYAML==6.0.1",
        "qt-gui==2.7.5",
        "qt-gui-cpp==2.7.5",
        "qt-gui-py-common==2.7.5",
        "rcl-interfaces==2.0.2",
        "rclpy==7.1.4",
        "rcutils==6.7.2",
        "regex==2022.10.31",
        "requests==2.31.0",
        "resource-retriever==3.4.4",
        "rich==13.7.1",
        "rmw-dds-common==3.1.0",
        "roman==3.3",
        "ros-gz-bridge==1.0.15",
        "ros-gz-interfaces==1.0.15",
        "ros-gz-sim==1.0.15",
        "ros2-controllers-test-nodes==4.27.0",
        "ros2action==0.32.4",
        "ros2bag==0.26.7",
        "ros2bag-mcap-cli==0.26.7",
        "ros2bag-sqlite3-cli==0.26.7",
        "ros2cli==0.32.4",
        "ros2component==0.32.4",
        "ros2controlcli==4.32.0",
        "ros2doctor==0.32.4",
        "ros2interface==0.32.4",
        "ros2launch==0.26.8",
        "ros2lifecycle==0.32.4",
        "ros2multicast==0.32.4",
        "ros2node==0.32.4",
        "ros2param==0.32.4",
        "ros2pkg==0.32.4",
        "ros2run==0.32.4",
        "ros2service==0.32.4",
        "ros2test==0.6.0",
        "ros2topic==0.32.4",
        "rosbag2-interfaces==0.26.7",
        "rosbag2-py==0.26.7",
        "rosdep==0.26.0",
        "rosdep-modules==0.26.0",
        "rosdistro-modules==1.0.1",
        "rosgraph-msgs==2.0.2",
        "rosidl-adapter==4.6.5",
        "rosidl-cli==4.6.5",
        "rosidl-cmake==4.6.5",
        "rosidl-generator-c==4.6.5",
        "rosidl-generator-cpp==4.6.5",
        "rosidl-generator-py==0.22.1",
        "rosidl-generator-type-description==4.6.5",
        "rosidl-parser==4.6.5",
        "rosidl-pycommon==4.6.5",
        "rosidl-runtime-py==0.13.1",
        "rosidl-typesupport-c==3.2.2",
        "rosidl-typesupport-cpp==3.2.2",
        "rosidl-typesupport-fastrtps-c==3.6.1",
        "rosidl-typesupport-fastrtps-cpp==3.6.1",
        "rosidl-typesupport-introspection-c==4.6.5",
        "rosidl-typesupport-introspection-cpp==4.6.5",
        "rospkg-modules==1.6.0",
        "rpyutils==0.4.1",
        "rqt-console==2.2.1",
        "rqt-gui==1.6.0",
        "rqt-gui-py==1.6.0",
        "rqt-plot==1.4.3",
        "rqt-py-common==1.6.0",
        "rqt-topic==1.7.3",
        "rtabmap-msgs==0.22.1",
        "rtabmap-python==0.1.0",
        "safetensors==0.6.2",
        "SciPy==1.11.4",
        "screen-resolution-extra==0.0.0",
        "semver==2.10.2",
        "sensor-msgs==5.3.6",
        "sensor-msgs-py==5.3.6",
        "service-msgs==2.0.2",
        "setuptools==68.1.2",
        "shape-msgs==5.3.6",
        "six==1.16.0",
        "snowballstemmer==2.2.0",
        "soupsieve==2.5",
        "srdfdom==2.0.7",
        "sros2==0.13.3",
        "ssh-import-id==5.11",
        "statistics-msgs==2.0.2",
        "std-msgs==5.3.6",
        "std-srvs==5.3.6",
        "stereo-msgs==5.3.6",
        "sympy==1.14.0",
        "systemd-python==235",
        "tf2-geometry-msgs==0.36.12",
        "tf2-kdl==0.36.12",
        "tf2-msgs==0.36.12",
        "tf2-py==0.36.12",
        "tf2-ros-py==0.36.12",
        "tf2-tools==0.36.12",
        "theora-image-transport==4.0.4",
        "tokenizers==0.21.4",
        "toml==0.10.2",
        "topic-tools==1.3.3",
        "topic-tools-interfaces==1.3.3",
        "torch==2.8.0",
        "torchvision==0.23.0",
        "tornado==6.4",
        "tqdm==4.67.1",
        "trajectory-msgs==5.3.6",
        "transformers==4.55.2",
        "triton==3.4.0",
        "type-description-interfaces==2.0.2",
        "typeguard==4.1.5",
        "typing_extensions==4.10.0",
        "ubuntu-drivers-common==0.0.0",
        "ubuntu-pro-client==8001",
        "ufoLib2==0.16.0",
        "ufw==0.36.2",
        "unattended-upgrades==0.1",
        "unicodedata2==15.1.0",
        "unique-identifier-msgs==2.5.0",
        "ur-dashboard-msgs==3.3.3",
        "ur-msgs==2.2.0",
        "ur-robot-driver==3.3.3",
        "urdfdom-py==1.2.1",
        "urllib3==2.0.7",
        "vcstool==0.3.0",
        "velodyne-msgs==2.5.1",
        "vision-msgs==4.1.1",
        "visualization-msgs==5.3.6",
        "wadllib==1.3.6",
        "webencodings==0.5.1",
        "wheel==0.42.0",
        "wrapt==1.15.0",
        "xacro==2.0.13",
        "xdg==5",
        "xkit==0.0.0",
        "zipp==1.0.0"
    ],
    "usb": [
        "NoLib"
    ],
    "uname": [
        "Linux barbot 6.14.0-27-generic #27~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 22 17:38:49 UTC 2 x86_64 x86_64"
    ]
}

Which OS/OS version are you using? Ubuntu 24.04.1
Which ROS version are you using? 2
Which ROS distribution are you using ? Jazzy
Is depthai-ros built from source or installed from apt? apt
Is depthai/depthai-core library installed from rosdep or manually? rosdep
Please include versions of following packages - apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver:

Package: ros-jazzy-depthai
Version: 2.30.0-1noble.20250424.110737
Priority: optional
Section: misc
Maintainer: Adam Serafin <[email protected]>
Installed-Size: 68.2 MB
Depends: libc6 (>= 2.38), libgcc-s1 (>= 4.2), libopencv-core406t64 (>= 4.6.0+dfsg), libopencv-imgproc406t64 (>= 4.6.0+dfsg), libstdc++6 (>= 13.1), libopencv-dev, libusb-1.0-0-dev, nlohmann-json3-dev, ros-jazzy-ros-workspace
Homepage: https://www.luxonis.com/
Download-Size: 24.9 MB
APT-Manual-Installed: no
APT-Sources: http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
Description: DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform

Package: ros-jazzy-depthai-ros
Version: 2.11.2-1noble.20250814.103406
Priority: optional
Section: misc
Maintainer: Adam Serafin <[email protected]>
Installed-Size: 44.0 kB
Depends: ros-jazzy-depthai, ros-jazzy-depthai-bridge, ros-jazzy-depthai-descriptions, ros-jazzy-depthai-examples, ros-jazzy-depthai-filters, ros-jazzy-depthai-ros-driver, ros-jazzy-depthai-ros-msgs, ros-jazzy-ros-workspace
Download-Size: 7,200 B
APT-Sources: http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
Description: The depthai-ros package

Package: ros-jazzy-depthai-bridge
Version: 2.11.2-1noble.20250814.084604
Priority: optional
Section: misc
Maintainer: Adam Serafin <[email protected]>
Installed-Size: 604 kB
Depends: libc6 (>= 2.38), libgcc-s1 (>= 3.3.1), libopencv-calib3d406t64 (>= 4.6.0+dfsg), libopencv-core406t64 (>= 4.6.0+dfsg), libopencv-imgcodecs406t64 (>= 4.6.0+dfsg), libopencv-imgproc406t64 (>= 4.6.0+dfsg), libstdc++6 (>= 13.1), libboost-dev, libopencv-dev, ros-jazzy-camera-info-manager, ros-jazzy-composition-interfaces, ros-jazzy-cv-bridge, ros-jazzy-depthai, ros-jazzy-depthai-ros-msgs, ros-jazzy-ffmpeg-image-transport-msgs, ros-jazzy-image-transport, ros-jazzy-rclcpp, ros-jazzy-robot-state-publisher, ros-jazzy-ros-environment, ros-jazzy-sensor-msgs, ros-jazzy-std-msgs, ros-jazzy-stereo-msgs, ros-jazzy-tf2, ros-jazzy-tf2-geometry-msgs, ros-jazzy-tf2-ros, ros-jazzy-vision-msgs, ros-jazzy-xacro, ros-jazzy-ros-workspace
Download-Size: 174 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
Description: The depthai_bridge package

Package: ros-jazzy-depthai-ros-msgs
Version: 2.11.2-1noble.20250814.080551
Priority: optional
Section: misc
Maintainer: Adam Serafin <[email protected]>
Installed-Size: 2,730 kB
Depends: libc6 (>= 2.14), libgcc-s1 (>= 3.3.1), libpython3.12t64 (>= 3.12.1), libstdc++6 (>= 11), ros-jazzy-fastcdr, ros-jazzy-builtin-interfaces, ros-jazzy-geometry-msgs, ros-jazzy-rclcpp, ros-jazzy-rosidl-default-generators, ros-jazzy-sensor-msgs, ros-jazzy-std-msgs, ros-jazzy-vision-msgs, ros-jazzy-ros-workspace
Download-Size: 204 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
Description: Package to keep interface independent of the driver

Package: ros-jazzy-depthai-ros-driver
Version: 2.11.2-1noble.20250814.101717
Priority: optional
Section: misc
Maintainer: Adam Serafin <[email protected]>
Installed-Size: 3,525 kB
Depends: libc6 (>= 2.38), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libopencv-core406t64 (>= 4.6.0+dfsg), libopencv-imgproc406t64 (>= 4.6.0+dfsg), libstdc++6 (>= 13.1), libtinyxml2-10 (>= 10.0.0), ros-jazzy-ament-cmake-auto, ros-jazzy-camera-calibration, ros-jazzy-cv-bridge, ros-jazzy-depthai, ros-jazzy-depthai-bridge, ros-jazzy-depthai-descriptions, ros-jazzy-depthai-examples, ros-jazzy-depthai-ros-msgs, ros-jazzy-diagnostic-msgs, ros-jazzy-diagnostic-updater, ros-jazzy-ffmpeg-image-transport-msgs, ros-jazzy-image-pipeline, ros-jazzy-image-transport, ros-jazzy-image-transport-plugins, ros-jazzy-pluginlib, ros-jazzy-rclcpp, ros-jazzy-rclcpp-components, ros-jazzy-sensor-msgs, ros-jazzy-std-msgs, ros-jazzy-std-srvs, ros-jazzy-vision-msgs, ros-jazzy-ros-workspace
Download-Size: 750 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
Description: Depthai ROS Monolithic node.

Additional context N/A

Aug 27 '25 19:08 mrjogo

Hi @mrjogo, thanks for the report, you are right but I think it should be the other way around, node name should be prepended to the frame name instead of base frame (and it should be prepended to base frame to keep the convention) as this way would be clearer

Sep 02 '25 12:09 Serafadam

I mean, what it SHOULD be is nothing is automatically prepended and each takes an optional tf_prefix argument if needed, but honestly it's all pretty arbitrary, and whatever it is just should to be consistent and explicitly documented.

Sep 02 '25 17:09 mrjogo