wait for device to be connected

[camelator]

I am inside a container based on noetic & focal.
Here is the display with command : roslaunch astra_camera astra_pro.launch

SUMMARY

PARAMETERS

• /camera/camera/camera_name: camera
• /camera/camera/color_depth_synchronization: False
• /camera/camera/color_format: RGB
• /camera/camera/color_fps: 30
• /camera/camera/color_height: 480
• /camera/camera/color_info_uri:
• /camera/camera/color_roi_height: -1
• /camera/camera/color_roi_width: -1
• /camera/camera/color_roi_x: -1
• /camera/camera/color_roi_y: -1
• /camera/camera/color_width: 640
• /camera/camera/connection_delay: 100
• /camera/camera/depth_align: False
• /camera/camera/depth_format: Y11
• /camera/camera/depth_fps: 30
• /camera/camera/depth_height: 480
• /camera/camera/depth_roi_height: -1
• /camera/camera/depth_roi_width: -1
• /camera/camera/depth_roi_x: -1
• /camera/camera/depth_roi_y: -1
• /camera/camera/depth_scale: 1
• /camera/camera/depth_width: 640
• /camera/camera/device_num: 1
• /camera/camera/enable_color: True
• /camera/camera/enable_d2c_viewer: False
• /camera/camera/enable_depth: True
• /camera/camera/enable_ir: True
• /camera/camera/enable_point_cloud: True
• /camera/camera/enable_point_cloud_xyzrgb: False
• /camera/camera/enable_publish_extrinsic: False
• /camera/camera/flip_color: False
• /camera/camera/flip_depth: False
• /camera/camera/flip_ir: False
• /camera/camera/ir_format: Y10
• /camera/camera/ir_fps: 30
• /camera/camera/ir_height: 480
• /camera/camera/ir_info_uri:
• /camera/camera/ir_width: 640
• /camera/camera/oni_log_level: verbose
• /camera/camera/oni_log_to_console: False
• /camera/camera/oni_log_to_file: False
• /camera/camera/product_id: 0
• /camera/camera/publish_tf: True
• /camera/camera/serial_number:
• /camera/camera/tf_publish_rate: 10.0
• /camera/camera/use_uvc_camera: True
• /camera/camera/uvc_camera_format: mjpeg
• /camera/camera/uvc_flip: False
• /camera/camera/uvc_product_id: 0x0502
• /camera/camera/uvc_retry_count: 100
• /camera/camera/uvc_vendor_id: 0x2bc5
• /camera/camera/vendor_id: 0
• /rosdistro: noetic
• /rosversion: 1.16.0

NODES
/camera/
camera (astra_camera/astra_camera_node)

auto-starting new master
process[master]: started with pid [23145]
ROS_MASTER_URI=http://192.168.31.235:11311

setting /run_id to eb3828d8-d651-11ed-9444-08fbeac23c84
process[rosout-1]: started with pid [23176]
started core service [/rosout]
process[camera/camera-2]: started with pid [23186]
[ INFO] [1680988286.528103450]: Starting camera node...
[ INFO] [1680988286.559964607]: Creating camera node...
[ INFO] [1680988286.563449835]: OBCameraNodeFactory::OBCameraNodeFactory
[ INFO] [1680988286.563530921]: Initializing OBCameraNodeFactory...
[ INFO] [1680988286.602057152]: init Done
[ INFO] [1680988286.602183739]: Creating camera node done...
[ INFO] [1680988286.602309326]: Query device
[ INFO] [1680988286.602482581]: Found 1 devices
[ INFO] [1680988286.603888748]: Device connected: (name, Astra) (uri, 2bc5/0403@7/9) (vendor, Orbbec)
[ INFO] [1680988286.604044794]: Trying to open device: 2bc5/0403@7/9
[ INFO] [1680988286.704315196]: OBCameraNodeFactory::onDeviceConnected Open device start
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1680988287.602058510]: wait for device to be connected
[ INFO] [1680988288.601937949]: wait for device to be connected
[ INFO] [1680988289.601905473]: wait for device to be connected
[ INFO] [1680988290.602131297]: wait for device to be connected
[ INFO] [1680988291.601903690]: wait for device to be connected

lsusb inside the container:
root@rockpi:~/ros_ws# lsusb
Bus 008 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 007 Device 010: ID 2bc5:0502
Bus 007 Device 009: ID 2bc5:0403 USB2.0 Hub

lsusb outside the container:
root@rockpi:/sys/module/usb_storage/parameters# lsusb
Bus 008 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 007 Device 010: ID 2bc5:0502 Orbbec 3D Technology International, Inc Astra Pro FHD Camera
Bus 007 Device 009: ID 2bc5:0403 Orbbec 3D Technology International, Inc Astra Pro
Bus 007 Device 008: ID 05e3:0610 Genesys Logic, Inc. Hub

docker-compose file:

version: "2.1"

services:
alan4:
image: cvotava/alan-ros1v0:latest
environment:
- TZ=Europe/PAris
- ROS_DOMAIN_ID=0
- ROS_IP=rockpi
- ROS_MASTER_URI=http://rockpi:11311
restart: unless-stopped
network_mode: "host" #ros2
ports:
- 8080:8080
volumes:
- alan-data4:/root

- /dev/bus/usb:/dev/bus/usb

- /dev/video0:/dev/video0

privileged: true

devices:
  - '/dev:/dev'

I am using a rockpi 4b device

any help????