[Spot] Subscribed rate of images is very low via Sanshiro

[sktometometo]

Via sanshiro, image rate of BelKa is extremely low. With this, we cannot generate point cloud with depth_image_proc.

$ rostopic hz /spot/camera/hand_color/image
subscribed to [/spot/camera/hand_color/image]
no new messages
no new messages
average rate: 1.190
    min: 0.840s max: 0.840s std dev: 0.00000s window: 2
no new messages
no new messages
no new messages
no new messages
average rate: 0.343
    min: 0.840s max: 4.996s std dev: 2.07783s window: 3

[knorth55]

how about compressed?

[sktometometo]

There is no compressed image topic for spot since the images are not published via image_transport.

[k-okada]

please use compressed image

◉ Kei Okada

2023年3月9日(木) 11:41 Koki Shinjo @.***>:

Via sanshiro, image rate is extremely low.

$ rostopic hz /spot/camera/hand_color/image subscribed to [/spot/camera/hand_color/image] no new messages no new messages average rate: 1.190 min: 0.840s max: 0.840s std dev: 0.00000s window: 2 no new messages no new messages no new messages no new messages average rate: 0.343 min: 0.840s max: 4.996s std dev: 2.07783s window: 3

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[k-okada]

please add to https://github.com/k-okada/jsk_robot/blob/spot_arm/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch#L75-L90

◉ Kei Okada

2023年3月9日(木) 11:44 Koki Shinjo @.***>:

There is no compressed image topic for spot since the images are not published via image_transport.

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[sktometometo]

I don't know why, but fixed.

$ rostopic hz /spot/camera/hand_color/image
subscribed to [/spot/camera/hand_color/image]
average rate: 4.426
    min: 0.191s max: 0.261s std dev: 0.03498s window: 3
average rate: 6.507
    min: 0.106s max: 0.261s std dev: 0.04319s window: 11
average rate: 6.978
    min: 0.106s max: 0.261s std dev: 0.03511s window: 19