[BUG] depthai-sdk error when recording to MCAP: 'XoutFrames' is not defined

[Shift-Ronan]

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Describe the bug
I'm doing some development with the depthai-sdk package. When running the mcap-record.py script I get NameError: name 'XoutFrames' is not defined error from depthai_sdk/recorders/mcap_recorder.py. Before this, I was also missing the geometry_msgs package (and others) that I installed manually from https://rospypi.github.io/simple/.

Minimal Reproducible Example
Append the MRE to the bug report, instructions here
I'm running depthai v2.19.1 on a Raspberry Pi 4 with Ubuntu 20.04 and followed these instructions for a Ubuntu installation:
https://docs.luxonis.com/projects/api/en/latest/install/
The script: https://github.com/luxonis/depthai/blob/main/depthai_sdk/src/depthai_sdk/recorders/mcap_recorder.py

Expected behavior
Depth and video data should be saved as MCAP file type.

Screenshots

~/Luxonis/depthai/depthai_sdk/examples/recording$ python mcap-record.py
Recording...
Closing OAK camera
Traceback (most recent call last):
File "mcap-record.py", line 12, in
recorder = oak.record([color.out.encoded, left, right, stereo.out.depth], './records/mcap', RecordType.MCAP)
File "/home/ubuntu/.local/lib/python3.8/site-packages/depthai_sdk/oak_camera.py", line 407, in record
record = Record(Path(path).resolve(), record_type)
File "/home/ubuntu/.local/lib/python3.8/site-packages/depthai_sdk/record.py", line 78, in init
from .recorders.mcap_recorder import McapRecorder
File "/home/ubuntu/.local/lib/python3.8/site-packages/depthai_sdk/recorders/mcap_recorder.py", line 10, in
class McapRecorder(Recorder):
File "/home/ubuntu/.local/lib/python3.8/site-packages/depthai_sdk/recorders/mcap_recorder.py", line 20, in McapRecorder
def update(self, path: Path, device: dai.Device, xouts: List[XoutFrames]):
NameError: name 'XoutFrames' is not defined

Pipeline Graph
Please also provide a screenshot of your pipeline using the DepthAI Pipeline Graph.

Had to use oak.show_graph() as the pipeline_graph script wasn't working. Commented out recording line so it didn't crash.

Nodes (id):
===========
ColorCamera (0)
VideoEncoder (1)
MonoCamera (2)
MonoCamera (3)
StereoDepth (4)

Connections:
============
0 MonoCamera (3): out -> StereoDepth (4): [8] right
1 MonoCamera (2): out -> StereoDepth (4): [8] left
2 ColorCamera (0): video -> VideoEncoder (1): [4] in

Attach system log

• Provide output of log_system_information.py
  log_system_information.txt
  Output as .txt because Markdown doesn't support uploading JSON.

Additional context
Unsure if it's related to this issue due to me having to manually install the ROS message definitions, but recording depth as rosbag files works but I'm unable to open them in the Intel Realsense Viewer due to a message error.

[Erol444]

Has this been resolved @daniilpastukhov ?

[daniilpastukhov]

Yes, it's fixed in develop branch already. The issue will be fixed in 1.9.5 that is coming soon