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[jsk_arc2017_baxter] Set png_level of compressedDepth to keep image_raw hz on kinetic #2706

Closed pazeshun closed 4 years ago

pazeshun commented 4 years ago

When subscribing compressedDepth on kinetic, hz of image_raw drops. This is because load of CPU processing camera becomes too high. To avoid this on baxter-c1, png_level should be under 6.

This behavior is different from indigo, so we should do further investigation... I created https://github.com/ros-perception/image_common/issues/151 to gather information. cc. @YutoUchimi

pazeshun commented 4 years ago

This PR is already tested with real robot, by checking:

$ rostopic hz /right_hand_camera/left/depth/image_raw
$ rostopic hz /right_hand_camera/left/depth/image_raw/compressedDepth
knorth55 commented 4 years ago

@pazeshun can i merge this?

pazeshun commented 4 years ago

@knorth55 Yes, please merge this.