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ros-naoqi / naoqi_dcm_driver

Hardware interface allowing control Nao, Romeo, and Pepper robots via ROS
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low FPS on Depth Camera #10

Open sasilva1998 opened 2 years ago

sasilva1998 commented 2 years ago

I am using a Pepper Robot and running: 

roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=192.168.12.68
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.12.68

It runs okay however I am getting a really low FPS rate with the depth camera, about 0.7. Is there a way to make it higher?

Also I am getting the following warning:

[ WARN][/pepper_robot/camera/camera_nodelet_manager][1646387899.934485100]: TF2 exception:
Lookup would require extrapolation into the future.  Requested time 1646387899.933206874 but the latest data is at time 1646387899.224573674, when looking up transform from frame [CameraDepth_optical_frame] to frame [CameraTop_optical_frame]