Realsense camera callback stop being called after some time

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Hello,

I'm using Intel Realsense D435 and D455 RGBD camera (one at a time, but get the issue with the two models), and I only use the RGB image for now, under ROS2 Galactic.

If I ros2 topic echo /color/image_raw, I can see the messages published, but after some random time the output of this command stop to be updated - as if no more messages were published.

On the other side, I have a node with a callback subscribing to /color/image_raw with a RCLCPP_INFO() inside for debug. After some random time, the callback ceases to be called.

But my call back and the echo do not necessarily stop to be called simultaneously, one can continue being called while the other is not. I'm on the same machine. However I did additional test where the real sense node and my custom node were on a remote machine. In this case, I don't see any output if I ros2 topic echo on my local machine (same ROS_DOMAIN_ID) but I do if I ros2 topic echo in a ssh terminal connected to the remote machine.

Looks like there are some transport issue... I'm using CycloneDDS.

Why could the callback stop being called ? Thanks,

EDIT: As I debug the behabvior changed/became more extrem: ok I wrote a minimal testbench where my custom node only subscribes to /color/image_raw and do a RCLCPP_INFO in the callback.

Remote machine:
IntelReaslsense ROS2 node
OR MinimalPublisher publishing always the same image, same size as Realsense

Local machine: Custom node

With the Intel Reaslsense ROS2 node, after a little time my local machine lags more and more until it crashes. But not with my fake MinimalPublisher... (hum, may be linked, but may be a slightly different problem...)