[BUG] Connection times out when using FASTDDS Discovery Server

[HJGrant]

Describe the bug
After setting up the FastDDS Discovery Server in our environment, we started getting connection errors to the OAK-D PoE:

[component_container-1] [2026-01-21 15:03:08.858] [depthai] [warning] Monitor thread (device: 18443010310DFA0F00 [192.168.2.97]) - ping was missed, closing the device connection
[component_container-1] [ERROR] [1769004192.109268615] [oak]: Couldn't read data from stream: '__bootloader' (X_LINK_ERROR)
[component_container-1] [INFO] [1769004192.627257782] [oak]: No devices detected by autodiscovery, trying to connect to camera via IP: 192.168.2.97
[component_container-1] [INFO] [1769004192.627477552] [oak]: Connecting to the camera using ip: 192.168.2.97
[component_container-1] [INFO] [1769004194.139385208] [oak]: Connecting to the camera using ip: 192.168.2.97
[component_container-1] [2026-01-21 15:03:23.695] [depthai] [warning] Monitor thread (device: 18443010310DFA0F00 [192.168.2.97]) - ping was missed, closing the device connection
[component_container-1] [ERROR] [1769004206.197166776] [oak]: Couldn't write data to stream: '__bootloader' (X_LINK_ERROR)
[component_container-1] [INFO] [1769004206.715329696] [oak]: Connecting to the camera using ip: 192.168.2.97
[component_container-1] [ERROR] [1769004211.942895238] [oak]: Failed to connect to device, error message: X_LINK_DEVICE_NOT_FOUND
[component_container-1] [INFO] [1769004212.451249656] [oak]: No devices detected by autodiscovery, trying to connect to camera via IP: 192.168.2.97
[component_container-1] [INFO] [1769004212.451422740] [oak]: Connecting to the camera using ip: 192.168.2.97
[component_container-1] [INFO] [1769004213.975239501] [oak]: No devices detected by autodiscovery, trying to connect to camera via IP: 192.168.2.97
[component_container-1] [INFO] [1769004213.975414120] [oak]: Connecting to the camera using ip: 192.168.2.97

we never saw this error before implementing FastDDS in our robotics environment.

Minimal Reproducible Example
Run the OAK-D ros driver launch file like so:

oakd_launch_file = os.path.join(
        get_package_share_directory('oakd_isaac_ros'),
        'launch', 'tools', 'camera.launch.py'
    )

while having a FastDDS server setup in your network, with the environment variable set to a client profile in the terminal you run the launch file from:

export FASTRTPS_DEFAULT_PROFILES_FILE=/config/fastdds_client_profile.xml

We expect there to be a connection to our OAK-D PoE just like before we were using FastDDS.

[Serafadam]

Hi, could you share your FASTDDS config file? I would say that the issue is related to your network options/ROS DDS configuration, rather than the camera driver.

[HJGrant]

This is my client profile .xml config file

<dds>
  <profiles>
    <participant profile_name="super_client_profile" is_default_profile="true">
      <domainId>8</domainId>
      <rtps>
        <builtin>
          <discovery_config>
            <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
            <discoveryServersList>
              <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
                <metatrafficUnicastLocatorList>
                  <locator>
                    <udpv4>
                      <address>192.168.2.95</address>
                      <port>11815</port>
                    </udpv4>
                  </locator>
                </metatrafficUnicastLocatorList>
              </RemoteServer>
            </discoveryServersList>
          </discovery_config>
        </builtin>
      </rtps>
    </participant>
  </profiles>
</dds>