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ICE9-Robotics / rigel_ros

ROS packages for Rigel Robot
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ros2 bag play /realsense/depth/color/points on Parallels Desktop can cause "message queue starved" and significant frame drop in RVIZ #4

Open AnthonyZJiang opened 7 months ago

AnthonyZJiang commented 7 months ago

Environment

Macbook M2 Pro, Ubuntu 22.04 virtual machine with Parallels Desktop, ROS2 Humble.

The problem

When play ros2 bags with /realsense/depth/color/points included, the terminal shows warning messages as following, and significant frame drops can be observed in RVIZ. 

[rosbag2_player]: Message queue starved. Messages will be delayed. Consider increasing the --read-ahead-queue-size option.

The ros2 bag plays fine when the color point cloud is removed ~or when it is played alone~.

Including /realsense/depth/color/points in bag play:

ros2 topic hz /velodyne_points
average rate: 4.695
    min: 0.125s max: 0.406s std dev: 0.08491s window: 7
average rate: 4.678
    min: 0.125s max: 0.406s std dev: 0.06795s window: 12
average rate: 4.263
    min: 0.125s max: 0.563s std dev: 0.10334s window: 16
average rate: 4.460
    min: 0.094s max: 0.563s std dev: 0.12010s window: 22

Excluding it:

ros2 topic hz /velodyne_points
average rate: 8.975
    min: 0.097s max: 0.194s std dev: 0.02781s window: 10
average rate: 8.457
    min: 0.095s max: 0.202s std dev: 0.03509s window: 18
average rate: 8.357
    min: 0.095s max: 0.203s std dev: 0.03780s window: 27

Related issue

This might be related to Issue #2.

AnthonyZJiang commented 7 months ago

After my lunch break /realsense/depth/image_rect_raw starts to cause the problem too.. It is perhaps related to computer resources?