Sachin Guruswamy

is the CPU consumption same on `rgb_stereo_node.launch.py` and `stereo.launch.py` ? and is this on main branch or `OAK-D-PRO-galactic` ?

On my host I'm seeing not much CPU resources in Foxy and noetic. But Galactic seems to take more resources. I will test on Raspberry Pi over the weekend and...

~~Use the `stereo_nodelet.launch` file for pointcloud~~

`ros2 launch depthai_examples stereo_inertial_node.launch.py` & `ros2 launch depthai_examples stereo.launch.py` Both works.

For ROS1: `roslaunch depthai_examples stereo_inertial_node.launch`

Yes. We will be adding an option to change it. It's in the queue.

It is being added in this PR with RGB alignment. (Note that it will drop the depth fps since it is not well optimized on device of now) [https://github.com/luxonis/depthai-ros-examples/pull/12](url)

and as of the `sensor_msgs/PointCloud2` agree. We are publishing `sensor_msgs/PointCloud2`. We use depth image proc package for that conversion as of now. http://wiki.ros.org/depth_image_proc#depth_image_proc.2Fpoint_cloud_xyz

it's an assignment to variable. it shouldn't exit for that. Are you using bash shell ? and can I know the system specs ?

@themarpe any idea on this ?