Low Bandwidth on Stretch

[praveenVnktsh]

• The video stream lags a lot when high-resolution images are sent over ROS. Not sure if this is because of the large size of the image, or if its because of the robot unable to handle it. Further testing is required to determine root cause.

[praveenVnktsh]

The issue is due to high bandwidth requirements.

When full res (720p) images are sent over the network, over 50MBps is required (checked with rostopic bw).

Current solution is to:

• Use low res images for object detection.
• Send high res images only for grasping which does not have to be realtime

Closing since bandwidth is a non-solvable issue in the wireless case.