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lucasw / o3de_ros_example

Simple example of using O3DE with ROS
BSD 3-Clause "New" or "Revised" License
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Higher ros camera frame rate #2

Open lucasw opened 5 months ago

lucasw commented 5 months ago

ros2 topic hz reports the desired 5 Hz, but rqt_image_view and rviz show only a fraction of that.

Try reliable instead of best effort?

https://www.youtube.com/watch?v=i9g27hR9TWU

lucasw commented 5 months ago 
ros2 bag record -a
ros2 bag info rosbag2_2024_04_05-09_00_49/

Files:             rosbag2_2024_04_05-09_00_49_0.mcap
Bag size:          206.7 MiB
Storage id:        mcap
ROS Distro:        rolling
Duration:          9.321s
Start:             Apr  5 2024 09:01:23.392 (1712332883.392)
End:               Apr  5 2024 09:01:32.714 (1712332892.714)
Messages:          3543
Topic information: Topic: /robot/depth/image | Type: sensor_msgs/msg/Image | Count: 29 | Serialization Format: cdr
                   Topic: /robot/color/image_color | Type: sensor_msgs/msg/Image | Count: 39 | Serialization Format: cdr
                   Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 1 | Serialization Format: cdr
                   Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 10 | Serialization Format: cdr
                   Topic: /car/cloud | Type: sensor_msgs/msg/PointCloud2 | Count: 99 | Serialization Format: cdr
                   Topic: /car/color/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 53 | Serialization Format: cdr
                   Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
                   Topic: /car/color/image_color | Type: sensor_msgs/msg/Image | Count: 49 | Serialization Format: cdr
                   Topic: /car/depth/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 53 | Serialization Format: cdr
                   Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 1491 | Serialization Format: cdr
                   Topic: /robot/color/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 45 | Serialization Format: cdr
                   Topic: /robot/depth/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 45 | Serialization Format: cdr
                   Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 1491 | Serialization Format: cdr
                   Topic: /car/depth/image | Type: sensor_msgs/msg/Image | Count: 49 | Serialization Format: cdr
                   Topic: /robot/cloud | Type: sensor_msgs/msg/PointCloud2 | Count: 89 | Serialization Format: cdr
                   Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
Service:           0
Service information:

So the frame rate is there in the mcap (though it doesn't have to deserialize, it's an issue with rqt image view and rviz that the full rates aren't seen