depthai-ros: [BUG] ROS Noetic PoE connectivity issues

Describe the bug

I am using luxonis/depthai-ros:v2.7.4-noetic Docker image with a OAK-D Pro PoE camera. The camera is plugged to one of the PoE++ ports of a Ubiquity USW Pro 24 PoE switch. After some time, the ROS driver stops publishing to rgb and stereo topics. This could happen as short as in 2 hours or something like 12 hours after launching the ROS driver. I was never able to get the image from the ROS topic after leaving the camera on overnight.

While the ROS driver is running, I can get the images from the topics without any issues. When I encounter the issue, I can still see the ROS topics but I cannot get any data from them.

I also tried to roll back to luxonis/depthai-ros:v2.7.2-noetic Docker image, but that didn’t change anything.

I tried to change the switch, and used a Ubiquity USW Lite 8 PoE. On this switch, I used one of the PoE+ ports. No change observed.

I’ve tried the Python scripts provided as examples, they seem to work fine. I can’t see any log entries regarding the disconnection on the Docker image logs, so I am not sure what is happening.

Minimal Reproducible Example

What I do is pretty much running the following command

/bin/bash -c "roslaunch depthai_ros_driver rgbd_pcl.launch params_file:=/configs/camera.yaml --wait"

configs/camera.yaml is the one provided here

Expected behavior

It should publish to the ROS topics continuously.

Pipeline Graph

I can provide this, but since I haven’t customized the configuration file, it would be the default one if I understand it correctly. I was unable to save the pipeline via rosservice call /oak/save_pipeline command, it just didn’t create /tmp/pipeline.json file in the container.

Attach system log

• I am using the Docker image luxonis/depthai-ros:v2.7.4-noetic
• I have just restarted the ROS driver and the container is currently collecting logs in the DEPTHAI_DEBUG=1 mode, I’ll check and share the logs after I encounter the issue.