ROS2 Realsense node stops publishing image data after calling up other nodes

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Hi, I'm using ROS2 and realsense D435i to implement a navigation application. I modified this example which brings up the realsense node, nvblox, and VSLAM. It runs well when all nodes are in the same machine. I divided them, such as the realsense node only running on the jetson board on my robots, nvblox, and VSLAM runs in the edge server. The robot and edge server are connected with ethernet cables. Please note that I have tested that they can ping and use the talker listener examples from ROS2 well.

Problem: When I start the realsense node at the jetson board side, I can see topics and image data in the edge server. But when I bring up the nvblox and VSLAM nodes, the edge side doesn't see the image, but the topic name is still there, and the jetson side can see the image data.

Is there any mistake in my launch files, or is something missing in the network setup?

Below are my launch files.

The nvr_debug_jetson.launch.py file:

# license removed for brevity

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import ComposableNodeContainer


def generate_launch_description():
    realsense_config_file_path = os.path.join(
        get_package_share_directory("nvblox_examples_bringup"),
        "config",
        "realsense.yaml",
    )

    realsense_node = ComposableNode(
        namespace="camera",
        package="realsense2_camera",
        plugin="realsense2_camera::RealSenseNodeFactory",
        parameters=[realsense_config_file_path],
    )

    realsense_splitter_node = ComposableNode(
        namespace="camera",
        name="realsense_splitter_node",
        package="realsense_splitter",
        plugin="nvblox::RealsenseSplitterNode",
        parameters=[{"input_qos": "SENSOR_DATA", "output_qos": "SENSOR_DATA"}],
        remappings=[
            ("input/infra_1", "/camera/infra1/image_rect_raw"),
            ("input/infra_1_metadata", "/camera/infra1/metadata"),
            ("input/infra_2", "/camera/infra2/image_rect_raw"),
            ("input/infra_2_metadata", "/camera/infra2/metadata"),
            ("input/depth", "/camera/depth/image_rect_raw"),
            ("input/depth_metadata", "/camera/depth/metadata"),
            ("input/pointcloud", "/camera/depth/color/points"),
            ("input/pointcloud_metadata", "/camera/depth/metadata"),
        ],
    )

    realsense_container = ComposableNodeContainer(
        name="realsense_container",
        namespace="",
        package="rclcpp_components",
        executable="component_container",
        composable_node_descriptions=[realsense_node, realsense_splitter_node],
        output="screen",
    )

    base_link_tf_node = Node(
        package="tf2_ros",
        executable="static_transform_publisher",
        arguments=["0.16", "0", "0.11", "0", "0", "0", "1", "base_link", "camera_link"],
    )

    return LaunchDescription([realsense_container, base_link_tf_node])

The nvr_debug_edge.launch.py file:

# license removed for brevity

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    visual_slam_node = Node(
        name="visual_slam_node",
        package="isaac_ros_visual_slam",
        executable="isaac_ros_visual_slam",
        parameters=[
            {
                "enable_rectified_pose": True,
                "denoise_input_images": False,
                "rectified_images": True,
                "enable_debug_mode": False,
                "debug_dump_path": "/tmp/vslam",
                "enable_slam_visualization": True,
                "enable_landmarks_view": True,
                "enable_observations_view": True,
                "map_frame": "map",
                "odom_frame": "odom",
                "base_frame": "base_link",
                "input_left_camera_frame": "camera_infra1_frame",
                "input_right_camera_frame": "camera_infra2_frame",
                "enable_localization_n_mapping": True,
                "publish_odom_to_base_tf": True,
                "publish_map_to_odom_tf": True,
            }
        ],
        remappings=[
            ("stereo_camera/left/image", "/camera/infra1/image_rect_raw"),
            ("stereo_camera/left/camera_info", "/camera/infra1/camera_info"),
            ("stereo_camera/right/image", "/camera/infra2/image_rect_raw"),
            ("stereo_camera/right/camera_info", "/camera/infra2/camera_info"),
        ],
    )

    nvblox_config = DeclareLaunchArgument(
        "nvblox_config",
        default_value=os.path.join(
            get_package_share_directory("nvblox_examples_bringup"),
            "config",
            "nvblox.yaml",
        ),
    )

    nvblox_node = Node(
        package="nvblox_ros",
        executable="nvblox_node",
        parameters=[LaunchConfiguration("nvblox_config")],
        output="screen",
        remappings=[
            ("depth/camera_info", "/camera/depth/camera_info"),
            ("depth/image", "/camera/realsense_splitter_node/output/depth"),
            ("color/camera_info", "/camera/color/camera_info"),
            ("color/image", "/camera/color/image_raw"),
        ],
    )

    rviz_config_path = os.path.join(
        get_package_share_directory("nvblox_examples_bringup"),
        "config",
        "nvblox_vslam_realsense.rviz",
    )

    print(rviz_config_path)

    rviz = Node(
        package="rviz2",
        executable="rviz2",
        arguments=["-d", rviz_config_path],
        output="screen",
    )

    return LaunchDescription([nvblox_config, visual_slam_node, nvblox_node, rviz])

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