D555 not publishing aligned_depth_to_color

[peterkappelt]

Hi everyone,

I'm currently trying to set up a new D555 camera we just got. We are coming from a setup with a D455, where we used this config and start the wrapper with ros2 launch realsense2_camera rs_launch.py config_file:=./realsense_d455.yaml:

realsense_d455.yaml

camera_name: "realsense_d455"
device_type: "d455"
camera_namespace: ""
initial_reset: false
accelerate_gpu_with_glsl: false
log_level: "info"
output: "screen"
enable_color: true
rgb_camera.color_profile: "848x480x30"
rgb_camera.color_format: "BGR8"
rgb_camera.enable_auto_exposure: true
enable_infra: false
enable_infra1: true
enable_infra2: true
enable_depth: true
depth_module.depth_profile: "848x480x30"
depth_module.depth_format: "Z16"
depth_module.infra_profile: "848x480x30"
depth_module.infra_format: "RGB8"
depth_module.infra1_format: "Y8"
depth_module.infra2_format: "Y8"
depth_module.emitter_enabled: 0
depth_module.exposure: 8500
depth_module.gain: 16
depth_module.hdr_enabled: false
depth_module.enable_auto_exposure: true
depth_module.exposure.1: 7500
depth_module.gain.1: 16
depth_module.exposure.2: 1
depth_module.gain.2: 16
enable_sync: true
enable_rgbd: true
enable_gyro: true
enable_accel: true
gyro_fps: 200
accel_fps: 200
unite_imu_method: 2
clip_distance: -2.0
angular_velocity_cov: 0.01
linear_accel_cov: 0.01
diagnostics_period: 0.0
publish_tf: true
tf_publish_rate: 0.0
pointcloud.enable: false
pointcloud.stream_filter: 2
pointcloud.stream_index_filter: 0
pointcloud.ordered_pc: false
pointcloud.allow_no_texture_points: false
align_depth.enable: true
colorizer.enable: false
decimation_filter.enable: false
spatial_filter.enable: false
temporal_filter.enable: false
disparity_filter.enable: false
hole_filling_filter.enable: false
hdr_merge.enable: false
wait_for_device_timeout: -1.0
reconnect_timeout: 6.0

This works as expected and we get some output:

# ros2 topic hz /camera/camera/aligned_depth_to_color/image_raw
average rate: 30.575
        min: 0.013s max: 0.052s std dev: 0.00775s window: 29
average rate: 30.260
        min: 0.013s max: 0.052s std dev: 0.00545s window: 59
average rate: 30.159
        min: 0.013s max: 0.052s std dev: 0.00444s window: 89
average rate: 30.112
        min: 0.013s max: 0.052s std dev: 0.00512s window: 119

I tweaked the config slightly to work with a D555, only by changing the stream resolution to a supported value and the device_type filter:

realsense_d555.yaml

camera_name: "realsense_d555"
device_type: "d555"
camera_namespace: ""
initial_reset: false
accelerate_gpu_with_glsl: false
log_level: "info"
output: "screen"
enable_color: true
rgb_camera.color_profile: "896x504x30"
rgb_camera.color_format: "BGR8"
rgb_camera.enable_auto_exposure: true
enable_infra: false
enable_infra1: true
enable_infra2: true
enable_depth: true
depth_module.depth_profile: "896x504x30"
depth_module.depth_format: "Z16"
depth_module.infra_profile: "896x504x30"
depth_module.infra_format: "RGB8"
depth_module.infra1_format: "Y8"
depth_module.infra2_format: "Y8"
depth_module.emitter_enabled: 0
depth_module.exposure: 8500
depth_module.gain: 16
depth_module.hdr_enabled: false
depth_module.enable_auto_exposure: true
depth_module.exposure.1: 7500
depth_module.gain.1: 16
depth_module.exposure.2: 1
depth_module.gain.2: 16
enable_sync: true
enable_rgbd: true
enable_gyro: true
enable_accel: true
gyro_fps: 200
accel_fps: 200
unite_imu_method: 2
clip_distance: -2.0
angular_velocity_cov: 0.01
linear_accel_cov: 0.01
diagnostics_period: 0.0
publish_tf: true
tf_publish_rate: 0.0
pointcloud.enable: false
pointcloud.stream_filter: 2
pointcloud.stream_index_filter: 0
pointcloud.ordered_pc: false
pointcloud.allow_no_texture_points: false
align_depth.enable: true
colorizer.enable: false
decimation_filter.enable: false
spatial_filter.enable: false
temporal_filter.enable: false
disparity_filter.enable: false
hole_filling_filter.enable: false
hdr_merge.enable: false
wait_for_device_timeout: -1.0
reconnect_timeout: 6.0

However, I don't get anything on the aligned_depth_to_color topic anymore:

# ros2 topic hz /camera/camera/aligned_depth_to_color/image_raw
<no output>
# ros2 topic hz /camera/camera/depth/image_rect_raw
average rate: 55.488
        min: 0.002s max: 0.035s std dev: 0.00811s window: 53
average rate: 56.760
        min: 0.002s max: 0.035s std dev: 0.00751s window: 111
# ros2 topic hz /camera/camera/color/image_raw
average rate: 30.202
        min: 0.022s max: 0.045s std dev: 0.00576s window: 29
average rate: 30.083
        min: 0.022s max: 0.045s std dev: 0.00492s window: 59

Another weird effect I'm observing is that the publishing rate of the depth stream seems higher than expected. Output from the launch looks fine to me:

Launch Log

# ros2 launch realsense2_camera rs_launch.py config_file:=./realsense_d555.yaml
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-07-28-10-56-58-161993-ubuntu-53622
[INFO] [launch]: Default logging verbosity is set to INFO
Warning: Parameter 'depth_module.emitter_enabled' in config file is not supported. Supported parameters are:
['accel_fps', 'accelerate_gpu_with_glsl', 'align_depth.enable', 'angular_velocity_cov', 'base_frame_id', 'camera_name', 'camera_namespace', 'clip_distance', 'colorizer.enable', 'config_file', 'decimation_filter.enable', 'decimation_filter.filter_magnitude', 'depth_mapping_camera.labeled_point_cloud_profile', 'depth_mapping_camera.occupancy_profile', 'depth_module.color_format', 'depth_module.color_profile', 'depth_module.depth_format', 'depth_module.depth_profile', 'depth_module.enable_auto_exposure', 'depth_module.exposure', 'depth_module.exposure.1', 'depth_module.exposure.2', 'depth_module.gain', 'depth_module.gain.1', 'depth_module.gain.2', 'depth_module.hdr_enabled', 'depth_module.infra1_format', 'depth_module.infra2_format', 'depth_module.infra_format', 'depth_module.infra_profile', 'depth_module.inter_cam_sync_mode', 'device_type', 'diagnostics_period', 'disparity_filter.enable', 'enable_accel', 'enable_color', 'enable_depth', 'enable_gyro', 'enable_infra', 'enable_infra1', 'enable_infra2', 'enable_labeled_point_cloud', 'enable_motion', 'enable_occupancy', 'enable_rgbd', 'enable_safety', 'enable_sync', 'gyro_fps', 'hdr_merge.enable', 'hole_filling_filter.enable', 'initial_reset', 'json_file_path', 'linear_accel_cov', 'log_level', 'motion_fps', 'output', 'pointcloud.allow_no_texture_points', 'pointcloud.enable', 'pointcloud.ordered_pc', 'pointcloud.stream_filter', 'pointcloud.stream_index_filter', 'publish_tf', 'reconnect_timeout', 'rgb_camera.color_format', 'rgb_camera.color_profile', 'rgb_camera.enable_auto_exposure', 'rosbag_filename', 'rosbag_loop', 'rotation_filter.enable', 'rotation_filter.rotation', 'safety_camera.safety_mode', 'serial_no', 'spatial_filter.enable', 'temporal_filter.enable', 'tf_prefix', 'tf_publish_rate', 'unite_imu_method', 'usb_port_id', 'wait_for_device_timeout']
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [53625]
[realsense2_camera_node-1] [INFO] [1785236218.323239120] [camera.camera]: RealSense ROS v4.58.2
[realsense2_camera_node-1] [INFO] [1785236218.323364112] [camera.camera]: Built with LibRealSense v2.58.2
[realsense2_camera_node-1] [INFO] [1785236218.323393008] [camera.camera]: Running with LibRealSense v2.58.2
[realsense2_camera_node-1]  28/07 10:56:58,324 WARNING [281472695001152] (context.cpp:41) No valid configuration file found at : /root/.realsense-config.json loading defaults
[realsense2_camera_node-1]  28/07 10:56:58,353 WARNING [281472695001152] (ds-motion-common.cpp:452) No HID info provided, IMU is disabled
[realsense2_camera_node-1] [INFO] [1785236218.668026992] [camera.camera]: Device with serial number 409122300454 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1785236218.668170928] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1785236218.668251696] [camera.camera]: Device with name Intel RealSense D555 was found.
[realsense2_camera_node-1] [INFO] [1785236218.668857552] [camera.camera]: Device with port number 2-3.3 was found.
[realsense2_camera_node-1] [INFO] [1785236218.668953136] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1785236218.669213552] [camera.camera]: getParameters...
[realsense2_camera_node-1] [WARN] [1785236218.669657072] [camera.camera]: For the 'unite_imu_method' param update to take effect, re-enable either gyro or accel stream.
[realsense2_camera_node-1] [INFO] [1785236218.669811472] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1785236218.669871248] [camera.camera]: Device Name: Intel RealSense D555
[realsense2_camera_node-1] [INFO] [1785236218.669918384] [camera.camera]: Device Serial No: 409122300454
[realsense2_camera_node-1] [INFO] [1785236218.669959792] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1785236218.670011344] [camera.camera]: Device FW version: 7.56.19919.4144
[realsense2_camera_node-1] [INFO] [1785236218.670051888] [camera.camera]: Device Product ID: 0x0B56
[realsense2_camera_node-1] [INFO] [1785236218.670092720] [camera.camera]: Sync Mode: On
[realsense2_camera_node-1] [WARN] [1785236218.721959696] [camera.camera]: Could not set param: depth_module.emitter_enabled with 1 Range: [0, 1]: parameter 'depth_module.emitter_enabled' has invalid type: expected [bool] got [integer]
[realsense2_camera_node-1] [WARN] [1785236218.746978416] [camera.camera]: re-enable the color stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1785236218.872682576] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1785236218.873083632] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1785236218.965504240] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1785236219.301223440] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 896, Height: 504, FPS: 30
[realsense2_camera_node-1] [INFO] [1785236219.301381072] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 896, Height: 504, FPS: 30
[realsense2_camera_node-1] [INFO] [1785236219.301470416] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 896, Height: 504, FPS: 30
[realsense2_camera_node-1] [INFO] [1785236219.331604240] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1785236219.343739120] [camera.camera]: Open profile: stream_type: Color(0), Format: BGR8, Width: 896, Height: 504, FPS: 30
[realsense2_camera_node-1] [INFO] [1785236219.372669616] [camera.camera]: RealSense Node Is Up!

We are on v4.58.2 with librealsense v2.58.2. We tried both 7.58.38448.10612 and 7.56.19919.4144 for the D555 firmware, both versions show the same effect.

Has anyone seen something similar before? I was hoping to be able to use the D555 as a drop-in replacement for the D455 in my case, at least in USB mode.

Kind regards, Peter

[MartyG-RealSense]

Hi @peterkappelt Do you get the same outcome if you launch without the yaml, enabling alignment in the launch instruction?

ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true

[peterkappelt]

Hi, thank you for your quick reply.

Yes, I get the same result:

# ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-07-28-12-31-27-747889-ubuntu-54326
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [54329]
[realsense2_camera_node-1] [INFO] [1785241887.892601936] [camera.camera]: RealSense ROS v4.58.2
[realsense2_camera_node-1] [INFO] [1785241887.892726544] [camera.camera]: Built with LibRealSense v2.58.2
[realsense2_camera_node-1] [INFO] [1785241887.892748144] [camera.camera]: Running with LibRealSense v2.58.2
[realsense2_camera_node-1]  28/07 12:31:27,893 WARNING [281473221386304] (context.cpp:41) No valid configuration file found at : /root/.realsense-config.json loading defaults
[realsense2_camera_node-1]  28/07 12:31:28,120 WARNING [281473221386304] (ds-motion-common.cpp:452) No HID info provided, IMU is disabled
[realsense2_camera_node-1] [INFO] [1785241888.436018608] [camera.camera]: Device with serial number 342622300259 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1785241888.436176880] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1785241888.436270672] [camera.camera]: Device with name Intel RealSense D555 was found.
[realsense2_camera_node-1] [INFO] [1785241888.436723920] [camera.camera]: Device with port number 2-3.3 was found.
[realsense2_camera_node-1] [INFO] [1785241888.436760624] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1785241888.436890256] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1785241888.437139952] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1785241888.437173008] [camera.camera]: Device Name: Intel RealSense D555
[realsense2_camera_node-1] [INFO] [1785241888.437195856] [camera.camera]: Device Serial No: 342622300259
[realsense2_camera_node-1] [INFO] [1785241888.437214672] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1785241888.437248272] [camera.camera]: Device FW version: 7.58.38448.10612
[realsense2_camera_node-1] [INFO] [1785241888.437267312] [camera.camera]: Device Product ID: 0x0B56
[realsense2_camera_node-1] [INFO] [1785241888.437285200] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1785241888.505395216] [camera.camera]: Set ROS param depth_module.depth_profile to default: 896x504x30
[realsense2_camera_node-1] [INFO] [1785241888.506415120] [camera.camera]: Set ROS param depth_module.infra_profile to default: 896x504x30
[realsense2_camera_node-1] [INFO] [1785241888.519202384] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 896x504x30
[realsense2_camera_node-1] [INFO] [1785241888.648838096] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1785241888.649152368] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1785241888.705477104] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1785241889.028521296] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 896, Height: 504, FPS: 30
[realsense2_camera_node-1] [INFO] [1785241889.054730448] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1785241889.066861936] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 896, Height: 504, FPS: 30
[realsense2_camera_node-1] [INFO] [1785241889.096494800] [camera.camera]: RealSense Node Is Up!

# ros2 topic hz /camera/camera/aligned_depth_to_color/image_raw
^C
# ros2 topic info /camera/camera/aligned_depth_to_color/image_raw
Type: sensor_msgs/msg/Image
Publisher count: 1
Subscription count: 0
# ros2 topic hz /camera/camera/depth/image_rect_raw
average rate: 52.917
        min: 0.002s max: 0.043s std dev: 0.00943s window: 51
average rate: 54.003
        min: 0.002s max: 0.043s std dev: 0.00863s window: 106

[peterkappelt]

I couldn't see anything interesting, but just for reference (with log_level:=debug): debug.log

[MartyG-RealSense]

Thanks very much for the information. And the same occurs with a resolution that D455 supports, such as 1280x720?

ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true depth_module.depth_profile:=1280x720x30 rgb_camera.color_profile:=1280x720x30

[peterkappelt]

Interesting, it seems some frames come through now:

# ros2 topic echo --once /camera/camera/depth/image_rect_raw | head -n 20
header:
  stamp:
    sec: 1785160448
    nanosec: 994532227
  frame_id: camera_depth_optical_frame
height: 720
width: 1280
encoding: 16UC1
is_bigendian: 0
step: 2560
data:
- 0
...
# ros2 topic hz /camera/camera/aligned_depth_to_color/image_raw
average rate: 0.334
        min: 2.996s max: 2.996s std dev: 0.00000s window: 1
average rate: 0.502
        min: 0.990s max: 2.996s std dev: 1.00329s window: 2
average rate: 0.500
        min: 0.990s max: 2.996s std dev: 0.81923s window: 3
# ros2 topic hz /camera/camera/depth/image_rect_raw
average rate: 60.933
        min: 0.004s max: 0.030s std dev: 0.01210s window: 59
average rate: 59.953
        min: 0.004s max: 0.061s std dev: 0.01250s window: 118

[peterkappelt]

I was able to get it working by connecting the D555 via Ethernet and now get the expected results (data on aligned_depth_to_color ), with the same launch commands. Problem wit USB connection still persists though.

[MartyG-RealSense]

Is there any difference with performance on USB if you have the ethernet cable disconnected from the camera to make sure that the camera knows it is operating in USB mode, and not DDS powered by USB.

[peterkappelt]

I had it connected via USB only in the trials above. I additionally set the usb-first for the priority mode and disconnected the ethernet cable again. No change unfortunately:

root@ubuntu:/opt/ros2_ws# rs-dds-config
rs-dds-config 2.58.3.0

-I- [USB] RealSense D555 s/n 342622300259, FW version 7.58.38448.10612
-I-     MAC address: 0:0:0:0:0:0
-I-     configured: 192.168.11.55 & 255.255.255.0 / 192.168.11.1
-I-     DDS:
-I-         domain ID: 0
-I-     link: OFF
-I-         MTU, bytes: 9000
-I-         timeout, ms: 4000
-I-         priority: usb-first
-I-     DHCP: OFF
-I-         timeout, sec: 30
-I-     transmission delay, us: 0
-I-     UDP TTL: 0

root@ubuntu:/opt/ros2_ws# ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true depth_module.depth_profile:=1280x720x30  rgb_camera.color_profile:=1280x720x30

[INFO] [launch]: All log files can be found below /root/.ros/log/2026-07-30-08-55-47-759523-ubuntu-136702
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [136705]
[realsense2_camera_node-1] [INFO] [1785401747.919207171] [camera.camera]: RealSense ROS v4.58.3
[realsense2_camera_node-1] [INFO] [1785401747.919360165] [camera.camera]: Built with LibRealSense v2.58.3
[realsense2_camera_node-1] [INFO] [1785401747.919387429] [camera.camera]: Running with LibRealSense v2.58.3
[realsense2_camera_node-1]  30/07 08:55:51,159 WARNING [281473558962240] (ds-motion-common.cpp:452) No HID info provided, IMU is disabled
[realsense2_camera_node-1] [INFO] [1785401751.165412563] [camera.camera]: Device with serial number 342622300259 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1785401751.165557108] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1785401751.165618325] [camera.camera]: Device with name RealSense D555 was found.
[realsense2_camera_node-1] [INFO] [1785401751.166241114] [camera.camera]: Device with port number 2-3.3 was found.
[realsense2_camera_node-1] [INFO] [1785401751.166301626] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1785401751.166537756] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1785401751.167035680] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1785401751.167100128] [camera.camera]: Device Name: RealSense D555
[realsense2_camera_node-1] [INFO] [1785401751.167152737] [camera.camera]: Device Serial No: 342622300259
[realsense2_camera_node-1] [INFO] [1785401751.167198433] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1785401751.167265666] [camera.camera]: Device FW version: 7.58.38448.10612
[realsense2_camera_node-1] [INFO] [1785401751.167353666] [camera.camera]: Device Product ID: 0x0B56
[realsense2_camera_node-1] [INFO] [1785401751.167400995] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [WARN] [1785401751.265348561] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1785401751.266555067] [camera.camera]: Set ROS param depth_module.infra_profile to default: 896x504x30
[realsense2_camera_node-1] [WARN] [1785401751.285856917] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1785401751.417706034] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1785401751.417924276] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1785401751.473931795] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1785401751.491317662] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1785401751.515806882] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1785401751.532444359] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1785401751.559263581] [camera.camera]: RealSense Node Is Up!

root@ubuntu:/opt/ros2_ws# ros2 topic hz /camera/camera/depth/image_rect_raw
average rate: 59.784
        min: 0.003s max: 0.031s std dev: 0.00665s window: 57
average rate: 60.094
        min: 0.003s max: 0.031s std dev: 0.00651s window: 118
average rate: 60.066
        min: 0.003s max: 0.031s std dev: 0.00646s window: 178
root@ubuntu:/opt/ros2_ws# ros2 topic h/camera/camera/aligned_depth_to_color/image_raw
^C

[MartyG-RealSense]

Are you using a USB cable from one of your old D455 cameras, please? If you are, does it make a difference if you unplug the micro-sized end of the USB cable from the base of the D555 camera, turn the connector around and re-insert it (USB-C cables are two-way insertion at the micro-sized end).

If reversing the connector does not make a difference, does setting the initial_reset parameter to true in your yaml file in order to reset the camera at launch do anything?