search

ADVRHumanoids / iit-centauro-ros-pkg

2 stars 0 forks source link

head camera frequency issue #32

Closed lucarossini-iit closed 2 years ago

lucarossini-iit commented 2 years ago

FYI, there is a parameter called depth_fps which is -1 by default. By setting it to 30 the camera starts working in the proper way. However, it is connected to a usb 2.1, should we move it to a 3.0 in order to improve the performances?

@liesrock @alaurenzi @aled96 @torydebra

liesrock commented 2 years ago

Thanks @lucarossini-iit I remember I checked this in the past: I don’t know if the configuration changed on the vision PC.

I believe we can switch to USB 3.0 and connect the T265 to the USB 2.0 but let’s check if we havr enough bandwidth when we use also the other D435 (also connected to USB 3.0)

lucarossini-iit commented 2 years ago

Update: the problem seems to be the heaviness of the pointcloud itself. By running a rostopic bw on the vision pc, the average is ~114 MB/s (which is the maximum of the ethernet connection) and the data struggles to be send to the pilot. Still I do not understand why yesterday it worked well for the whole day...

liesrock commented 2 years ago

Why do you need to stream to the pilot? Can you do everything on the vision pc for the cloud part?

lucarossini-iit commented 2 years ago

Indeed, I am working in this direction. I thought I could fix the problem simply increasing the depth_fps parameter but it is not working. This is just to update that it was not a working solution.