OAK-D Pro Depth topic not publishing

[aashrutjain]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.3-1jammy.20251229.200648

Type of issue

Camera

Expected behaviour

Running "ros2 launch turtlebot4_bringup oakd.launch.py" should successfully initialize the OAK-D Pro camera and publish both the RGB video and stereo depth topics (e.g., /tb26/oakd/stereo/image_raw) to the ROS 2 network without the camera crashing or disconnecting from the USB bus.

Actual behaviour

The camera successfully enumerates and can publish the standard 2D RGB video stream. However, when the stereo depth pipeline is initialized, the camera suffers a hard USB disconnect. It drops off the Pi's SuperSpeed USB bus, completely loses power, and reboots back into its base high-speed bootloader state. Because of this crash, no depth topics are ever published.

The camera is currently connected with a single standard USB-C to USB-A cable directly into the Raspberry Pi's blue port.

Error messages

Ros2 Terminal Output:
[oakd]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'

Kernel Hardware Logs (dmesg) that shows brownout and reboot:
[Fri Mar 13 17:08:16 2026] usb 2-2: New USB device found, idVendor=03e7, idProduct=f63b, bcdDevice= 1.00
[Fri Mar 13 17:08:16 2026] usb 2-2: Product: Luxonis Device
...
[Fri Mar 13 17:08:54 2026] usb 2-2: USB disconnect, device number 5
[Fri Mar 13 17:08:54 2026] usb 1-1.2: new high-speed USB device number 9 using xhci_hcd
[Fri Mar 13 17:08:54 2026] usb 1-1.2: Product: Movidius MyriadX

To Reproduce

1. run ros2 launch turtlebot4_bringup oakd.launch.py
2. ROS 2 terminal crashes (for me, inconsistently) with the X_LINK_ERROR exception
3. Rundmesg -T | tail -n 20 and observe the physical USB disconnect and re-enumeration of the bootloader.
4. run ros2 topic list and observe that all depth and stereo topics are completely missing.

Other notes

No response