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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
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Issue with Unstable Topic Frequency in ROS2 Driver Compared to ROS1 #3232

Open Liu-Jinxin opened 1 week ago

Liu-Jinxin commented 1 week ago
Required Info
Camera Model D435i
Firmware Version (Open RealSense Viewer --> Click info)
Operating System & Version Linux (Ubuntu 22)
Kernel Version (Linux Only) (e.g. 5.4)
Platform PC
Librealsense SDK Version { 2.55.1 }
Language {C/C#/labview/opencv/pcl/python/unity }
Segment {Robot }
ROS Distro Humble}
RealSense ROS Wrapper Version 4.55.1

Issue Description

Description

I have conducted tests on the same Intel RealSense D435i camera, with the same computer, comparing ROS Noetic (ROS1) and ROS2 Humble. While testing the compressed image topic, I noticed that the frequency stability in ROS1 is quite consistent and satisfactory. However, in ROS2 Humble, the frequency is significantly less stable.

Questions

  1. Is there a known issue with topic frequency stability in ROS2 drivers, particularly for image data?
  2. Are there specific settings or configurations in ROS2 that I should adjust to improve this stability?

Any advice or suggestions would be greatly appreciated as I continue to integrate ROS2 into my projects.

Thanks for your support and looking forward to your insights! Noetic: Screenshot from 2024-10-22 22-37-42 Humble: Screenshot from 2024-10-22 22-30-08

MartyG-RealSense commented 1 week ago

Hi @Liu-Jinxin There was a case at https://github.com/IntelRealSense/realsense-ros/issues/3105 a couple of months ago about low performance from a compressed depth topic when using the ROS2 wrapper.

After a lot of discussion and investigation, one of my Intel RealSense colleagues published a recommendation at https://github.com/IntelRealSense/realsense-ros/issues/3105#issuecomment-2392436864

Liu-Jinxin commented 1 week ago

Thank you for your suggestion and the information shared! Following your advice, I conducted some tests and discovered a very peculiar issue with the frequency. 

ros2 run dynamic_subscriber_node dynamic_subscriber_node --ros-args -p topic_name:=/camera/color/image_raw/compressed -p topic_type:=sensor_msgs/msg/CompressedImage
[INFO] [1729693354.441169565] [dynamic_subscriber_node]: Subscribing to sensor_msgs/msg/CompressedImage on topic: /camera/color/image_raw/compressed
[INFO] [1729693355.441249107] [dynamic_subscriber_node]: Current Frequency (Hz): 484.20
[INFO] [1729693356.441269529] [dynamic_subscriber_node]: Current Frequency (Hz): 486.58
[INFO] [1729693357.441294360] [dynamic_subscriber_node]: Current Frequency (Hz): 471.05
[INFO] [1729693358.441336205] [dynamic_subscriber_node]: Current Frequency (Hz): 31.86
[INFO] [1729693359.441364402] [dynamic_subscriber_node]: Current Frequency (Hz): 32.04
[INFO] [1729693360.441370101] [dynamic_subscriber_node]: Current Frequency (Hz): 31.89
[INFO] [1729693361.441397199] [dynamic_subscriber_node]: Current Frequency (Hz): 31.93
[INFO] [1729693362.441415731] [dynamic_subscriber_node]: Current Frequency (Hz): 479.38
[INFO] [1729693363.441448575] [dynamic_subscriber_node]: Current Frequency (Hz): 463.09
[INFO] [1729693364.441472855] [dynamic_subscriber_node]: Current Frequency (Hz): 478.43

Specifically, after each normal publish, my compressed image gets published again with a very short interval. I have logged the intervals as follows, hoping to gain further insights or suggestions on this matter.

ros2 run data_recorder test_node

Time interval: 0.0016884803771972656 seconds, Frequency: 592.2485173679752 Hz
Time interval: 0.031346797943115234 seconds, Frequency: 31.901184989123657 Hz
Time interval: 0.0024383068084716797 seconds, Frequency: 410.1206609954043 Hz
Time interval: 0.03104853630065918 seconds, Frequency: 32.20763743309759 Hz
Time interval: 0.0021209716796875 seconds, Frequency: 471.48201438848923 Hz
Time interval: 0.031369924545288086 seconds, Frequency: 31.8776667300019 Hz
Time interval: 0.0020008087158203125 seconds, Frequency: 499.79790276453764 Hz
Time interval: 0.03139615058898926 seconds, Frequency: 31.851038462998822 Hz
Time interval: 0.001981496810913086 seconds, Frequency: 504.6689929009746 Hz

I also use topic hz to test

ros2 topic hz /camera/color/image_raw/compressed 
average rate: 59.117
        min: 0.002s max: 0.033s std dev: 0.01463s window: 61
average rate: 59.537
        min: 0.002s max: 0.033s std dev: 0.01464s window: 121
average rate: 59.669
        min: 0.002s max: 0.033s std dev: 0.01464s window: 181
average rate: 59.738
        min: 0.002s max: 0.033s std dev: 0.01462s window: 241
average rate: 59.782
        min: 0.002s max: 0.034s std dev: 0.01459s window: 301
average rate: 59.812
        min: 0.002s max: 0.034s std dev: 0.01460s window: 361
average rate: 59.833
        min: 0.002s max: 0.034s std dev: 0.01460s window: 421
MartyG-RealSense commented 1 week ago

Have you installed the image transport plugin designed for Humble using the instruction below, please?

sudo apt install ros-humble-image-transport

Liu-Jinxin commented 1 week ago

Hi @MartyG-RealSense, yes I have,

➜  ros2_ws dpkg -l | grep ros-humble-image-transport   
ii  ros-humble-image-transport                             3.1.9-1jammy.20240820.161125            amd64        image_transport should always be used to subscribe to and publish images.
ii  ros-humble-image-transport-plugins                     2.5.2-1jammy.20240820.163724            amd64        A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data.
MartyG-RealSense commented 1 week ago

I have highlighted your case to my Intel RealSense colleagues on the ROS team. Thanks very much for your patience!

MartyG-RealSense commented 5 days ago

Hi again @Liu-Jinxin My Intel RealSense colleagues have an existing internal development ticket open related to the issue with ROS2 compressed topics described at https://github.com/IntelRealSense/realsense-ros/issues/3105 and they have added your case to the ticket.