D455 Auto-Exposure Gradually Overexposes (White-Out) After Startup on ROS1 Noetic

Hi everyone,

I'm encountering an issue with my Intel RealSense D455 where the RGB image gradually becomes completely white (overexposed) a few seconds after the camera starts, even though auto-exposure is enabled.
This occurs when running under ROS1 Noetic.

Has anyone experienced similar behavior?
Any suggestions or parameters I could adjust to fix this would be greatly appreciated.

Environment:

• OS: Ubuntu 20.04
• Camera: Intel RealSense D455
• Firmware: 5.13.0.55
• realsense_ros: Head detached at 2.3.2

Additional Information:

• Symptom: The RGB feed starts normally, then gradually turns fully white after a few seconds.
• Auto Exposure: Enabled.
• Workaround Attempted: Restarting the ROS node temporarily restores normal exposure, but the issue reoccurs after power cycling.

Sample Output:

GIF Example:

Camera JSON Settings:

realsense_high_accuracy.json

{
    "device": {
        "fw version": "05.14.00.00",
        "name": "Intel RealSense D455",
        "product line": "D400"
    },
    "parameters": {
        "aux-param-autoexposure-setpoint": "1000",
        "aux-param-colorcorrection1": "-0.493164",
        "aux-param-colorcorrection10": "-0.272461",
        "aux-param-colorcorrection11": "-0.272461",
        "aux-param-colorcorrection12": "-0.355469",
        "aux-param-colorcorrection2": "0.831055",
        "aux-param-colorcorrection3": "0.831055",
        "aux-param-colorcorrection4": "-0.368164",
        "aux-param-colorcorrection5": "-0.133789",
        "aux-param-colorcorrection6": "-0.323242",
        "aux-param-colorcorrection7": "-0.323242",
        "aux-param-colorcorrection8": "1.19141",
        "aux-param-colorcorrection9": "0.90918",
        "aux-param-depthclampmax": "65536",
        "aux-param-depthclampmin": "0",
        "aux-param-disparityshift": "0",
        "controls-autoexposure-auto": "True",
        "controls-autoexposure-manual": "32000",
        "controls-color-autoexposure-auto": "True",
        "controls-color-autoexposure-manual": "166",
        "controls-color-backlight-compensation": "0",
        "controls-color-brightness": "0",
        "controls-color-contrast": "50",
        "controls-color-gain": "128",
        "controls-color-gamma": "400",
        "controls-color-hue": "0",
        "controls-color-power-line-frequency": "3",
        "controls-color-saturation": "64",
        "controls-color-sharpness": "50",
        "controls-color-white-balance-auto": "True",
        "controls-color-white-balance-manual": "4600",
        "controls-depth-gain": "16",
        "controls-laserpower": "360",
        "controls-laserstate": "on",
        "ignoreSAD": "0",
        "param-amplitude-factor": "0",
        "param-autoexposure-setpoint": "1000",
        "param-censusenablereg-udiameter": "9",
        "param-censusenablereg-vdiameter": "9",
        "param-censususize": "9",
        "param-censusvsize": "9",
        "param-depthclampmax": "65536",
        "param-depthclampmin": "0",
        "param-depthunits": "1000",
        "param-disableraucolor": "0",
        "param-disablesadcolor": "0",
        "param-disablesadnormalize": "0",
        "param-disablesloleftcolor": "0",
        "param-disableslorightcolor": "1",
        "param-disparitymode": "0",
        "param-disparityshift": "0",
        "param-lambdaad": "751",
        "param-lambdacensus": "6",
        "param-leftrightthreshold": "10",
        "param-maxscorethreshb": "2893",
        "param-medianthreshold": "796",
        "param-minscorethresha": "4",
        "param-neighborthresh": "108",
        "param-raumine": "6",
        "param-rauminn": "3",
        "param-rauminnssum": "7",
        "param-raumins": "2",
        "param-rauminw": "2",
        "param-rauminwesum": "12",
        "param-regioncolorthresholdb": "0.785714",
        "param-regioncolorthresholdg": "0.565558",
        "param-regioncolorthresholdr": "0.985323",
        "param-regionshrinku": "3",
        "param-regionshrinkv": "0",
        "param-robbinsmonrodecrement": "25",
        "param-robbinsmonroincrement": "2",
        "param-rsmdiffthreshold": "1.65625",
        "param-rsmrauslodiffthreshold": "0.78125",
        "param-rsmremovethreshold": "0.809524",
        "param-scanlineedgetaub": "13",
        "param-scanlineedgetaug": "15",
        "param-scanlineedgetaur": "30",
        "param-scanlinep1": "155",
        "param-scanlinep1onediscon": "160",
        "param-scanlinep1twodiscon": "59",
        "param-scanlinep2": "190",
        "param-scanlinep2onediscon": "507",
        "param-scanlinep2twodiscon": "493",
        "param-secondpeakdelta": "647",
        "param-texturecountthresh": "0",
        "param-texturedifferencethresh": "1722",
        "param-usersm": "1",
        "param-zunits": "1000"
    },
    "schema version": 1,
    "viewer": {
        "stream-depth-format": "Z16",
        "stream-fps": "30",
        "stream-height": "480",
        "stream-width": "640"
    }
}