[BUG] Pipeline crash with std::out_of_range on a std::unordered_map

[MRo47]

Don't think this issue exists, searched in issues and PR's

Version: I'm currently 1 commit behind iron branch: cf5d2aaee9117298ea1632c98ffd36a5d7d535ac
Device: OAK-D pro W

Trying to run yolo object detection on stereo pipeline, on the left mono camera only.

Steps to reproduce

1. modify depthai-ros/depthai_ros_driver/config/camera.yaml

/**:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: true
      i_nn_type: none
      i_pipeline_type: Stereo
    left:
      i_enable_nn: true
    left_nn:
      i_nn_config_path: depthai_ros_driver/yolo

2. Then launch using

ros2 launch depthai_ros_driver camera.launch.py use_gdb:=true

I get error

1726855536.0914462 [bash-1] terminate called after throwing an instance of 'std::out_of_range'
1726855536.0915015 [bash-1]   what():  _Map_base::at

GDB

On tracing with gdb I found the error happens at

line 75 in src/dai_nodes/sensors/sensor_helpers.cpp

return rsSocketNameMap.at(socket);

the value its currently holding, probably by default is 1869766505 which does not correspond to any of the map entries that actually are enums

const std::unordered_map<dai::CameraBoardSocket, std::string> rsSocketNameMap = {
    {dai::CameraBoardSocket::AUTO, "color"},
    {dai::CameraBoardSocket::CAM_A, "color"},
    {dai::CameraBoardSocket::CAM_B, "infra2"},
    {dai::CameraBoardSocket::CAM_C, "infra1"},
    {dai::CameraBoardSocket::CAM_D, "infra4"},
    {dai::CameraBoardSocket::CAM_E, "infra3"},
};

[MRo47]

Also this does not happen when the i_nn_config_path is set to depthai_ros_driver/mobilenet_ssd

[Serafadam]

Hi, thanks for the report, this should be fixed in the next release (2.10.2)

[MRo47]

Cheers thank you