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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
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[Bug]: nothing is published to topic: /pc_filter/markers/crop_box #231

Open YumTaha opened 1 day ago

YumTaha commented 1 day ago

What happened?

Initial setup after installing ROS 2 Humble and the Interbotix workspace. Installed the RealSense package using the following command: sudo apt install ros-humble-realsense2-camera When running perception, RViz did not display the camera (no camera)(mind you the realsense-viewer works fine). It indicated an issue with the topic /camera/color/image_raw. After executing ros2 topic list, I discovered that the correct topic was: /camera/camera/color/image_raw.

iras@pibot:~/interbotix_ws$ ros2 topic list
/apriltag/tag_detections
/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/color/metadata
/camera/camera/depth/camera_info
/camera/camera/depth/color/points
/camera/camera/depth/image_rect_raw
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color
/camera/depth/color/points
/clicked_point
/goal_pose
/initialpose
/parameter_events
/pc_filter/markers/crop_box
/pc_filter/markers/crop_box_array
/pc_filter/markers/objects
/pc_filter/markers/objects_array
/pc_filter/pointcloud/filtered
/pc_filter/pointcloud/objects
/rosout
/static_transforms
/tf
/tf_static
/vx300/commands/joint_group
/vx300/commands/joint_single
/vx300/commands/joint_trajectory
/vx300/joint_states
/vx300/robot_description

To verify this, I modified the RViz interface by changing the image topic to: /camera/camera/color/image_raw and the image displayed correctly. I then updated the launch configuration and Python files, changing the topics: From /camera/color/image_raw to /camera/camera/color/image_raw and from /camera/color/camera_info to /camera/camera/color/camera_info. This resolved the initial issue, but now I face another problem. Although the camera captures images of the AprilTag and recognizes its position in relation to the robot arm, the CropBox is not visible in RViz. The interface indicates that the status is OK, yet nothing is being published to the topic /pc_filter/markers/crop_box.

Robot Model

vx300

Operating System

Ubuntu 22.04

ROS Distro

ROS 2 Humble

Steps To Reproduce

No response

Relevant log output

iras@pibot:~/interbotix_ws$ ros2 launch interbotix_xsarm_perception xsarm_perception.launch.py robot_model:=vx300 use_pointcloud_tuner_gui:=true use_armtag_tuner_gui:=true
[INFO] [launch]: All log files can be found below /home/iras/.ros/log/2024-10-31-16-26-53-393536-pibot-56575
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-3]: process started with pid [56581]
[INFO] [xs_sdk-1]: process started with pid [56577]
[INFO] [robot_state_publisher-2]: process started with pid [56579]
[INFO] [pointcloud_pipeline-4]: process started with pid [56583]
[INFO] [pointcloud_tuner_gui-5]: process started with pid [56585]
[INFO] [apriltag_ros_single_image_detector_node-6]: process started with pid [56587]
[INFO] [picture_snapper-7]: process started with pid [56589]
[INFO] [armtag_tuner_gui-8]: process started with pid [56591]
[INFO] [static_trans_pub.py-9]: process started with pid [56593]
[INFO] [rviz2-10]: process started with pid [56595]
[xs_sdk-1] [INFO] [1730406414.026200] Using Interbotix X-Series Driver Version: 'v0.3.7'.
[xs_sdk-1] [DEBUG] [1730406414.027184] Set logging level to 0.
[xs_sdk-1] [INFO] [1730406414.027915] Using logging level 'DEBUG'.
[xs_sdk-1] [INFO] [1730406414.027965] Retrieving motor config file at '/home/iras/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/vx300.yaml'.
[xs_sdk-1] [INFO] [1730406414.030370] Retrieving mode config file at '/home/iras/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/modes.yaml'.
[xs_sdk-1] [INFO] [1730406414.030543] Loaded mode configs from '/home/iras/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/modes.yaml'.
[xs_sdk-1] [DEBUG] [1730406414.032992] read_failure_behavior set to 0.
[xs_sdk-1] [INFO] [1730406414.033020] Loaded motor configs from '/home/iras/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/vx300.yaml'.
[xs_sdk-1] [INFO] [1730406414.038125] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-1] [INFO] [1730406414.073152]   Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_rotate'.
[pointcloud_pipeline-4] [INFO] [1730406414.097232386] [pointcloud_pipeline]: InterbotixPointCloudPipeline is up!
[xs_sdk-1] [INFO] [1730406414.122142]   Found DYNAMIXEL ID:  6, Model: 'XM540-W270', Joint Name: 'wrist_angle'.
[xs_sdk-1] [INFO] [1730406414.168510]   Found DYNAMIXEL ID:  5, Model: 'XM540-W270', Joint Name: 'elbow_shadow'.
[apriltag_ros_single_image_detector_node-6] [INFO] [1730406414.209202815] [tag_detector]: Loaded tag config: 5, size: 0.02, frame_name: tag_5
[apriltag_ros_single_image_detector_node-6] [INFO] [1730406414.209428969] [tag_detector]: Loaded tag config: 413, size: 0.02, frame_name: tag_413
[apriltag_ros_single_image_detector_node-6] [INFO] [1730406414.209525399] [tag_detector]: Loaded tag config: 820, size: 0.02, frame_name: tag_820
[apriltag_ros_single_image_detector_node-6] [INFO] [1730406414.209637654] [tag_detector]: Loaded tag config: 875, size: 0.02, frame_name: tag_875
[apriltag_ros_single_image_detector_node-6] [INFO] [1730406414.209736882] [tag_detector]: Loaded tag config: 1050, size: 0.02, frame_name: tag_1050
[xs_sdk-1] [INFO] [1730406414.214315]   Found DYNAMIXEL ID:  4, Model: 'XM540-W270', Joint Name: 'elbow'.
[xs_sdk-1] [INFO] [1730406414.260135]   Found DYNAMIXEL ID:  2, Model: 'XM540-W270', Joint Name: 'shoulder'.
[xs_sdk-1] [INFO] [1730406414.306280]   Found DYNAMIXEL ID:  8, Model: 'XM430-W350', Joint Name: 'gripper'.
[xs_sdk-1] [INFO] [1730406414.352110]   Found DYNAMIXEL ID:  3, Model: 'XM540-W270', Joint Name: 'shoulder_shadow'.
[realsense2_camera_node-3] [INFO] [1730406414.378303533] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-3] [INFO] [1730406414.378626735] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-3] [INFO] [1730406414.378686796] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-3]  31/10 16:26:54,383 WARNING [125138527848000] (backend-hid.cpp:1280) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[xs_sdk-1] [INFO] [1730406414.399117]   Found DYNAMIXEL ID:  1, Model: 'XM540-W270', Joint Name: 'waist'.
[apriltag_ros_single_image_detector_node-6] [INFO] [1730406414.497263282] [apriltag.ar_tracker]: Ready to do tag detection on single images
[realsense2_camera_node-3]  31/10 16:26:54,502 WARNING [125138527848000] (backend-hid.cpp:1280) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[realsense2_camera_node-3] [INFO] [1730406414.503577804] [camera.camera]: Device with serial number 215222075579 was found.
[realsense2_camera_node-3] 
[realsense2_camera_node-3] [INFO] [1730406414.503646750] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video2 was found.
[realsense2_camera_node-3] [INFO] [1730406414.503664650] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-3] [INFO] [1730406414.503892760] [camera.camera]: Device with port number 2-3 was found.
[realsense2_camera_node-3] [INFO] [1730406414.503913453] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-3] [INFO] [1730406414.503981187] [camera.camera]: getParameters...
[realsense2_camera_node-3] [INFO] [1730406414.505536622] [camera.camera]: JSON file is not provided
[realsense2_camera_node-3] [INFO] [1730406414.505597457] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-3] [INFO] [1730406414.505626367] [camera.camera]: Device Serial No: 215222075579
[realsense2_camera_node-3] [INFO] [1730406414.505648908] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video2
[realsense2_camera_node-3] [INFO] [1730406414.505671435] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-3] [INFO] [1730406414.505692782] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-3] [INFO] [1730406414.505718230] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-3] [INFO] [1730406414.601025969] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-3] [INFO] [1730406414.602193410] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[realsense2_camera_node-3] [INFO] [1730406414.621273007] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30
[realsense2_camera_node-3] [INFO] [1730406414.622903540] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-3] [INFO] [1730406414.623029785] [camera.camera]: Set ROS param accel_fps to default: 100
[realsense2_camera_node-3] [INFO] [1730406414.646342881] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-3] [INFO] [1730406414.646500475] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-3] [INFO] [1730406414.654989235] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-3] [INFO] [1730406414.658033277] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-3] [INFO] [1730406414.668853292] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-3] [INFO] [1730406414.679899133] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-3] [INFO] [1730406414.684522295] [camera.camera]: RealSense Node Is Up!
[static_trans_pub.py-9] [INFO] [1730406414.921396310] [static_trans_pub]: Transform filepath set to '/home/iras/interbotix_ws/install/interbotix_xsarm_perception/share/interbotix_xsarm_perception/config/static_transforms.yaml'.
[static_trans_pub.py-9] [INFO] [1730406414.923416283] [static_trans_pub]: Loaded static transforms.
[static_trans_pub.py-9] [INFO] [1730406414.927782416] [static_trans_pub]: Initialized Static Transform Publisher!
[armtag_tuner_gui-8] [INFO] [1730406414.936404191] [armtag.interbotix_robot_manipulation]: Initialized InterbotixRobotNode!
[armtag_tuner_gui-8] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[xs_sdk-1] [WARN] [1730406414.947146] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-1] [DEBUG] [1730406414.949131] Calibrating motor pair with IDs 2, 3.
[xs_sdk-1] [DEBUG] [1730406414.974125] Calibrating motor pair with IDs 4, 5.
[xs_sdk-1] [DEBUG] [1730406415.003472] ID: 1, read Drive_Mode [00000000].
[xs_sdk-1] [DEBUG] [1730406415.015342] ID: 1, torqued off.
[xs_sdk-1] [DEBUG] [1730406415.026063] ID: 1, write Drive_Mode [00000100].
[xs_sdk-1] [DEBUG] [1730406415.027164] ID: 1, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.049057] ID: 1, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.060173] ID: 1, torqued on.
[xs_sdk-1] [DEBUG] [1730406415.061277] ID: 2, read Drive_Mode [00000001].
[xs_sdk-1] [DEBUG] [1730406415.072061] ID: 2, torqued off.
[pointcloud_tuner_gui-5] [INFO] [1730406415.076156544] [pc_filter.interbotix_robot_manipulation]: Initialized InterbotixRobotNode!
[pointcloud_tuner_gui-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[xs_sdk-1] [DEBUG] [1730406415.083231] ID: 2, write Drive_Mode [00000101].
[xs_sdk-1] [DEBUG] [1730406415.084270] ID: 2, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.106261] ID: 2, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.107090] ID: 3, read Drive_Mode [00000000].
[xs_sdk-1] [DEBUG] [1730406415.118149] ID: 2, torqued off.
[xs_sdk-1] [DEBUG] [1730406415.129125] ID: 3, write Drive_Mode [00000100].
[xs_sdk-1] [DEBUG] [1730406415.130205] ID: 3, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.152056] ID: 3, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.163136] ID: 2, torqued on.
[xs_sdk-1] [DEBUG] [1730406415.164132] ID: 4, read Drive_Mode [00000001].
[xs_sdk-1] [DEBUG] [1730406415.176070] ID: 4, torqued off.
[xs_sdk-1] [DEBUG] [1730406415.187256] ID: 4, write Drive_Mode [00000101].
[xs_sdk-1] [DEBUG] [1730406415.188105] ID: 4, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.210093] ID: 4, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.211074] ID: 5, read Drive_Mode [00000000].
[xs_sdk-1] [DEBUG] [1730406415.222054] ID: 4, torqued off.
[xs_sdk-1] [DEBUG] [1730406415.233058] ID: 5, write Drive_Mode [00000100].
[xs_sdk-1] [DEBUG] [1730406415.234047] ID: 5, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.256091] ID: 5, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.267058] ID: 4, torqued on.
[xs_sdk-1] [DEBUG] [1730406415.268081] ID: 6, read Drive_Mode [00000001].
[xs_sdk-1] [DEBUG] [1730406415.279125] ID: 6, torqued off.
[xs_sdk-1] [DEBUG] [1730406415.290123] ID: 6, write Drive_Mode [00000101].
[xs_sdk-1] [DEBUG] [1730406415.291085] ID: 6, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.313102] ID: 6, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.324139] ID: 6, torqued on.
[xs_sdk-1] [DEBUG] [1730406415.325175] ID: 7, read Drive_Mode [00000000].
[xs_sdk-1] [DEBUG] [1730406415.336100] ID: 7, torqued off.
[pointcloud_tuner_gui-5] [INFO] [1730406415.346723718] [pc_filter.interbotix_robot_manipulation]: FilterParam filepath: '/home/iras/interbotix_ws/install/interbotix_xsarm_perception/share/interbotix_xsarm_perception/config/filter_params.yaml'
[xs_sdk-1] [DEBUG] [1730406415.348945] ID: 7, write Drive_Mode [00000100].
[xs_sdk-1] [DEBUG] [1730406415.350097] ID: 7, skipping set mode position.
[xs_sdk-1] [DEBUG] [1730406415.372364] ID: 7, set mode position, prof_vel=2000, prof_acc=300.
[xs_sdk-1] [DEBUG] [1730406415.383179] ID: 7, torqued on.
[xs_sdk-1] [INFO] [1730406415.383230] The operating mode for the 'arm' group was changed to 'position' with profile type 'time'.
[xs_sdk-1] [DEBUG] [1730406415.384086] ID: 8, read Drive_Mode [00000000].
[pointcloud_tuner_gui-5] [INFO] [1730406415.385069126] [pc_filter.interbotix_robot_manipulation]: Initialized InterbotixPointCloudInterface.
[xs_sdk-1] [DEBUG] [1730406415.385089] ID: 8, skipping set mode pwm.
[xs_sdk-1] [DEBUG] [1730406415.385108] ID: 8, set mode pwm.
[xs_sdk-1] [DEBUG] [1730406415.396049] ID: 8, torqued on.
[xs_sdk-1] [INFO] [1730406415.396078] The operating mode for the 'gripper' joint was changed to 'pwm' with profile type 'velocity'.
[xs_sdk-1] [INFO] [1730406415.396112] Interbotix X-Series Driver is up!
[picture_snapper-7] [INFO] [1730406415.514099732] [apriltag.picture_snapper]: Saving images to '/tmp'.
[pointcloud_tuner_gui-5] [INFO] [1730406415.585774496] [pc_filter.interbotix_robot_manipulation]: PointCloud Tuner GUI is up!
[xs_sdk-1] [INFO] [1730406415.611121802] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[armtag_tuner_gui-8] [WARN] [1730406416.207853515] [armtag.interbotix_robot_manipulation]: Service '/apriltag/snap_picture' not yet ready.
[picture_snapper-7] [INFO] [1730406417.745248665] [apriltag.picture_snapper]: Ready to save images from topic 'camera/camera/color/image_raw'.
[picture_snapper-7] [INFO] [1730406417.746031595] [apriltag.picture_snapper]: Picture Snapper is up!
[armtag_tuner_gui-8] [INFO] [1730406418.967949494] [armtag.interbotix_robot_manipulation]: CameraInfo message received! Continuing...
[armtag_tuner_gui-8] [INFO] [1730406418.969230662] [armtag.interbotix_robot_manipulation]: Initialized InterbotixAprilTagInterface!
[armtag_tuner_gui-8] [INFO] [1730406418.974876627] [armtag.interbotix_robot_manipulation]: Initialized InterbotixArmTagInterface!
[armtag_tuner_gui-8] [INFO] [1730406419.116332383] [armtag.interbotix_robot_manipulation]: ArmTag Tuner GUI is up!

Additional Info

No response

lukeschmitt-tr commented 1 day ago

The realsense2_camera package was somewhat recently updated to namespace the camera output topics under the camera name. Please try setting the cloud_topic launch arg to '/camera/camera/depth/color/points'.

The reason you're not seeing the cropbox (or likely any other markers) is because those visualizations are typically only published on receiving a new pointcloud message. See the pointcloud pipeline source for more details.

YumTaha commented 1 day ago

Thanks, now I can see the CropBox. I've never had this but any idea why cpu utilization is 100% when I ran the perception command?

ras@pibot:~$ top

top - 11:46:51 up 11 min,  1 user,  load average: 5.30, 3.86, 2.15
Tasks: 282 total,   4 running, 278 sleeping,   0 stopped,   0 zombie
%Cpu(s): 48.9 us,  4.5 sy,  0.0 ni, 43.8 id,  0.3 wa,  0.0 hi,  2.5 si,  0.0 st
MiB Mem :  15847.2 total,   9672.6 free,   2155.0 used,   4019.6 buff/cache
MiB Swap:   2048.0 total,   2048.0 free,      0.0 used.  11623.4 avail Mem 

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND                                                                                                                                                                                                            
   7580 iras      20   0 2552032 180024 117840 S 105.6   1.1   2:10.41 pointcloud_tune                                                                                                                                                                                                    
   7578 iras      20   0  673644  82888  46080 R 104.0   0.5   6:23.34 pointcloud_pipe                                                                                                                                                                                                    
   7576 iras      20   0 1382732 152256  52864 S  67.2   0.9   4:03.15 realsense2_came                                                                                                                                                                                                    
   7594 iras      20   0 3256688 244252 158772 R  63.3   1.5   3:44.95 rviz2                                                                                                                                                                                                              
   1212 iras      20   0 5863968 413892 279484 S  18.9   2.6   2:05.62 gnome-shell                                                                                                                                                                                                        
   3191 iras      20   0 1087112 116584  89456 S  15.8   0.7   4:07.25 Xwayland                                                                                                                                                                                                           
   7584 iras      20   0 1031772 170564 101104 S  11.3   1.1   0:43.52 picture_snapper                                                                                                                                                                                                    
   2163 iras      20   0 3567396 464068 284100 S  10.5   2.9   0:26.18 firefox                                                                                                                                                                                                            
   2689 iras      20   0 2541448 210868 116352 R  10.2   1.3   0:07.12 Isolated Web Co                                                                                                                                                                                                    
   7572 iras      20   0 1089304  27648  19840 S   9.0   0.2   0:35.05 xs_sdk                                                                                                                                            
     26 root       0 -20       0      0      0 I   0.0   0.0   0:00.00 kworker/1:0H-events_highpri                                                                                                                                                                                        
     27 root      20   0       0      0      0 S   0.0   0.0   0:00.00 cpuhp/2                                                                                                                                                                                                            
     28 root     -51   0       0      0      0 S   0.0   0.0   0:00.00 idle_inject/2                                                                                                                                                                                                      
     29 root      rt   0       0      0      0 S   0.0   0.0   0:00.16 migration/2                                                                                                                                                                                                        
     30 root      20   0       0      0      0 S   0.0   0.0   0:00.11 ksoftirqd/2                                                                                                                                                                                                        
     31 root      20   0       0      0      0 I   0.0   0.0   0:00.66 kworker/2:0-i915-unordered                                                                                                                                                                                         
     32 root       0 -20       0      0      0 I   0.0   0.0   0:00.08 kworker/0:1-i915-unordered                                                                                                                                                                                         
    111 root       0 -20       0      0      0 I   1.0   0.0   0:05.45 kworker/u17:0-uvcvideo                                                                                                                                                                                             
    214 root     -51   0       0      0      0 S   0.7   0.0   0:06.78 irq/51-ELAN0651:00                                                                                                                                                                                                 
   7985 root       0 -20       0      0      0 I   0.7   0.0   0:00.41 kworker/u17:2-uvcvideo                                                                                                                                                                                             
    640 message+  20   0   11028   6016   3968 S   0.3   0.0   0:01.10 dbus-daemon                                                                                                                                                                                                        
   2356 iras      20   0 2468040 134044 101076 S   0.3   0.8   0:02.52 Privileged Cont                                                                                                                                                                                                    
   7582 iras      20   0  920952 230144  45568 S   0.3   1.4   0:00.81 apriltag_ros_si                                                                                                                                                                                                    
   7586 iras      20   0 1883920 174248 115192 S   0.3   1.1   0:02.82 armtag_tuner_gu                                                                                                                                                                                                    
   8053 iras      20   0   22340   4224   3328 R   0.3   0.0   0:00.12 top                                                                                                                                                                                                                
      1 root      20   0  166824  11468   8140 S   0.0   0.1   0:01.25 systemd
lukeschmitt-tr commented 1 day ago

The pointcloud pipeline is very resource intensive when running continuously (like during the tuning process). When actually deployed, the pipeline is run once when its service is called.

YumTaha commented 1 day ago

Is there a way to minimize it since I am trying to tune the object detection but the pointcloud tuner is barely responding and slow

lukeschmitt-tr commented 1 day ago

You can try to reduce the fps (or resolution) of the camera's depth module using the rs_camera_depth_module_profile launch arg (default 30).