test performance with chunked data

[bmegli]

Related to:

• 21

Chunked transfer is currently not implemented (only multipart is).

The hope is that with chunked data device might start to send something without waiting for all data.

[bmegli]

I don't probably need fully working chunked data support.

Just getting the buffer and publishing anything (e.g. camera_info) should be enough to measure frequency

[bmegli]

Actually I can test it without implementing anything.

• https://github.com/photoneo-3d/photoneo-cpp-examples/tree/main/GigEV#chunked-data

From Photoneo docs in chunked mode Intensity is transferred as Image payload and the rest are chunks.

We have Image payload implemented.

It is enough to disable multipart and measure image frequency.

[bmegli]

Default Intensity + Range

roslaunch camera_aravis photoneo_motioncam.launch

rostopic hz /camera/Intensity/image_raw

Result

average rate: 9.805
    min: 0.069s max: 0.168s std dev: 0.01454s window: 222

We would not get anything in ROS Range as we are currently not testing for chunks attached to Image payload

[bmegli]

Conclusion

No performance gain with chunked data transfer