problem with oakd.launch.py

[IacopoFornai]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

I do not know

OS

Ubuntu 22.04

Built from source or installed?

Built from Source

Package version

Expected behaviour

i'm launching
ros2 launch turtlebot4_bringup oakd.launch.py
in config file oakd_pro.yaml i changed:
i_pipeline_type: RGB to RGBD to get depth image topic
i_height: 720 to 250 in order to match preview image size (rgb image topic) that is 250x250
i_width: 1280 to 250 in order to match preview image size (rgb image topic) that is 250x250
i wanted to have images of the same size because it's a requirement to run a visual odometry algorithm (rtabmap).

Actual behaviour

when i change
i_height: 720 to 250
i_width: 1280 to 250
i get an error and camera always stop working

is there a way to obtain images of the same dimensions without making the camera crash? Thank you for your help

Error messages

No response

To Reproduce

ros2 launch turtlebot4_bringup oakd.launch.py
with the changes in config file written above

Other notes

No response

[hilary-luo]

@IacopoFornai Please provide the full log of the output from when you launch the node including the error lines.

That being said, also make sure that if you are launching the camera node manually, that you have already stopped the oakd node that is launched at boot. Or, instead of launching manually, source the workspace etc. such that the node is launched automatically using your custom settings.