如何获得cyberdog2前方realsense2深度相机的图像数据

需求：获得realsense2深度相机的图像数据。
已知：已根据文档中：https://miroboticslab.github.io/blogs/#/cn/cyberdog_camera_cn进行测试，运行：

ros2 run camera_test stereo_camera ros2 lifecycle set /stereo_camera configure ros2 lifecycle set /stereo_camera activate

之后，节点topic中会有一段时间有图像数据，等待一两秒后开始报错：

(NvCapture) Error Timeout: capture waiting for status timeout (in /dvs/git/dirty/git-master_linux/camera/capture/nvcapture/capture_hw_linux.c, function NvCaptureLinuxGetCaptureStatus(), line 362) (NvCapture) Error Timeout: (propagating from /dvs/git/dirty/git-master_linux/camera/capture/nvcapture/capture.c, function NvCaptureDequeue(), line 1055) SCF: Error Timeout: (propagating from src/services/capture/NvCaptureViCsiHw.cpp, function waitCsiFrameEnd(), line 898) SCF: Error InvalidState: Timeout waiting on frame end sensor guid 1, capture sequence ID = 6, channel = 1/1 (in src/services/capture/NvCaptureViCsiHw.cpp, function waitCsiFrameEnd(), line 905) SCF: Error InvalidState: Something went wrong with waiting on frame end (in src/services/capture/NvCaptureViCsiHw.cpp, function waitCsiFrameEnd(), line 991) [INFO] [1715089993.064218141] [RGBStream]: processBuffer: [camera2] 0.64 frames per second SCF: Error InvalidState: Timeout waiting on frame start sensor guid 1, capture sequence ID = 6 (in src/services/capture/NvCaptureViCsiHw.cpp, function waitCsiFrameStart(), line 1018) SCF: Error InvalidState: Something went wrong with waiting on frame start (in src/services/capture/NvCaptureViCsiHw.cpp, function waitCsiFrameStart(), line 1077)

并且topic echo不出图像数据
在本仓库中也未找到相机有关的代码？不知在什么位置？
用什么方法可以直接获取其图像数据，或者该error应当怎样解决？

Start with the camera documentation at https://miroboticslab.github.io/blogs/#/cn/cyberdog_camera_cn and reproduce the three listed ROS 2 commands. Inspect the available camera topics and the reported NvCapture/SCF timeout logs; the issue is done when the source of the timeout and a verified way to obtain image data are documented.