Intel L515 low (~4hz) RGB framerate

[brtmax]

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Required Info
Camera Model	L515
Firmware Version	01.05.08.01
Operating System & Version	Ubuntu 20.04
Kernel Version (Linux Only)	5.15.0-78-generic
Platform	Intel NUC
SDK Version	2.50.0.1
Language	{C++ / ROS (Wrapper V. 2.3.20}
Segment	{Robot }

Issue Description

Hello Intel Team, we are having the following issue. Low rgb camera framerate issues. The camera node is publishing at ~4 Hz, even though it is set to 60. Tried it in realsense viewer, there it starts at normal rate but drops down to 4 Hz after a couple of seconds. Htop showed no significancies. All other streams seem to have stable framerate.

We are also having this issue: (messenger-libusb.cpp:42) control_transfer returned error. At least this is also printed as a ROS_WARN every second. But I am not sure if its correlated

What we have tried so far: -Disabling autoexposure & enabling autoexposure priority. Changes the framerate to the normal rate but just for a couple of seconds, after that it drops again to 4 Hz.

• Changed orientation of USB-C Cable

• Tried a different USB-C Cable

• Changed resolution and framerate

• Switched all other sensors off

This is the launchfile we are using: `

`

libusb issue

[brtmax]

This is the launchfile

I have some issues with the code formatting, sorry about that.

[dmipx]

What is your CPU usage? Do you have enough resources? Can you try realsense-viewer to capture color and see framerate is correct? @SamerKhshiboun any idea?

[brtmax]

Thank you for the answer!

CPU usage is normal, I also tested it on two devices, one with the Intel NUC and my personal laptop. Issue persists on both, and both should be able to handle the workload. We have a D435, and do not have the issue there and it should be the same RGB camera if I am informed correctly.

When I start realsense-viewer the framerate is normal for a couple of seconds but drops down quickly. I tried playing around with the autoexposure features but turning them on/off did not seem to change anything

[MartyG-RealSense]

Hi @brtmax I note that you tried disabling auto-exposure and enabling auto-exposure priority. The procedure for enforcing a constant FPS rate is actually the opposite. Auto-exposure should be enabled and auto-exposure priority disabled.

You can also test whether pointcloud generation is causing your problem by setting it to false in your launch to see whether the FPS rate becomes correct.

[brtmax]

Hello MartyG, thank you for the quick answer! I will try those actions and report back as soon as possible