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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
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Warning to reduce frame rate #896

Closed ashBabu closed 11 months ago

ashBabu commented 1 year ago

Preliminary Checks

Description

Same issue as #555. Elaboration takes longer (0.0236713 sec) than requested by the FPS rate (0.016666667 sec). Please consider to lower the 'frame_rate' setting or to reduce the power requirements reducing the resolutions. No RViz. No changes in anything. Just cloned the repos. The output of jetson clock is as follows

SOC family:tegra234  Machine:Jetson AGX Orin
Online CPUs: 0-11
cpu0: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2035200 IdleStates: WFI=1 c7=1 
cpu1: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu10: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu11: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu2: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2188800 IdleStates: WFI=1 c7=1 
cpu3: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2188800 IdleStates: WFI=1 c7=1 
cpu4: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu5: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu6: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu7: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu8: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
cpu9: Online=1 Governor=schedutil MinFreq=729600 MaxFreq=2201600 CurrentFreq=2201600 IdleStates: WFI=1 c7=1 
GPU MinFreq=306000000 MaxFreq=1300500000 CurrentFreq=1300500000
EMC MinFreq=204000000 MaxFreq=3199000000 CurrentFreq=3199000000 FreqOverride=0
DLA0_CORE:   Online=1 MinFreq=0 MaxFreq=1600000000 CurrentFreq=1600000000
DLA0_FALCON: Online=1 MinFreq=0 MaxFreq=844800000 CurrentFreq=844800000
DLA1_CORE:   Online=1 MinFreq=0 MaxFreq=1600000000 CurrentFreq=1600000000
DLA1_FALCON: Online=1 MinFreq=0 MaxFreq=844800000 CurrentFreq=844800000
PVA0_VPS0: Online=1 MinFreq=0 MaxFreq=1152000000 CurrentFreq=1152000000
PVA0_AXI:  Online=1 MinFreq=0 MaxFreq=832000000 CurrentFreq=832000000
FAN Dynamic Speed control=active hwmon2_pwm=93
NV Power Mode: MAXN

Steps to Reproduce

roslaunch zed_wrapper zedxm.launch.

Expected Result

No Warning msg `Elaboration takes longer (0.0236713 sec) than requested by the FPS rate (0.016666667 sec). Please consider to lower the 'frame_rate' setting or to reduce the power requirements reducing the resolutions.

Actual Result

Produces a warniing

ZED Camera model

ZED Mini

Environment

Nvidia jetson AGX Orin 
ZedX mini camera

Anything else?

The camera model is not mentioned in the dropdown

ladrians commented 1 year ago

Same issue here

Elaboration takes longer (0.0713881 sec) than requested by the FPS rate (0.066666667 sec). Please consider to lower the 'frame_rate' setting or to reduce the power requirements reducing the resolutions.

I am running on noetic version with a Jetson Xavier NX and just updated zed SDK to 4.0.3.

Already tweaked some frame rate for the image and pointcloud topics, but still cannot lower the grab_frame_rate which is making the warning appear. Part of the configuration is:

[ INFO] [1685819787.121696150]: SDK version : 4.0.3
[ INFO] [1685819787.121839860]: *** GENERAL PARAMETERS ***
[ INFO] [1685819787.124554904]:  * Camera Model by param        -> zed2
[ INFO] [1685819787.126946975]:  * Camera Name                  -> zed
[ INFO] [1685819787.129841345]:  * Camera Resolution            -> HD720
[ WARN] [1685819787.132781122]: Wrong FrameRate (5) for the resolution HD720. Set to 15 FPS.
[ INFO] [1685819787.132966688]:  * Camera Grab Framerate        -> 15
...
[ INFO] [1685819787.411921729]:  * [DYN] Depth confidence       -> 50
[ INFO] [1685819787.414487462]:  * [DYN] Depth texture conf.    -> 100
...
[ INFO] [1685819787.416456177]:  * [DYN] pub_frame_rate         -> 5 Hz
[ INFO] [1685819787.419451986]:  * [DYN] point_cloud_freq       -> 5 Hz
...

My guess is that if I could drop it, the whole nodelet consumption would be much lower. For my usecase I guess 5hz would be enough for camera topics.

Any chance to do some of these configuration changes apply?

github-actions[bot] commented 1 year ago

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days

ladrians commented 1 year ago

Just wanted to know if there a prevision to check this case?

Myzhar commented 1 year ago

We are working on improving this behavior at SDK level

karmenlu commented 1 year ago

Noticed this reduce frame rate warning yesterday as well. Also, running roslaunch zed_wrapper zedxm.launch with the Jetson Orin AGX and a ZED X Mini. On ZED Firmware 2001, ZED SDK 4.0.1.

github-actions[bot] commented 1 year ago

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days

rancyberbee commented 1 year ago

Same problem.. There is a solution for this bug?

I am using: Jetson Xavier Nx Devkit ZED X mini ZED SDK for JetPack 5.1.1 (L4T 35.3) ZED X Driver v0.5.4 for JetPack 5.1.1 (L4T 35.3)

This is my output: ubuntu@ubuntu:~$ roslaunch zed_wrapper zedxm.launch ... logging to /home/ubuntu/.ros/log/3e2cd2e6-4bc3-11ee-b3fc-d8c0a6b117bf/roslaunch-ubuntu-3035.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:46103/

SUMMARY

PARAMETERS

NODES /zedxm/ zed_node (zed_wrapper/zed_wrapper_node) zedxm_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [3055] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3e2cd2e6-4bc3-11ee-b3fc-d8c0a6b117bf process[rosout-1]: started with pid [3070] started core service [/rosout] process[zedxm/zedxm_state_publisher-2]: started with pid [3076] process[zedxm/zed_node-3]: started with pid [3078] [ INFO] [1693901247.192003922]: Initializing nodelet with 6 worker threads. [ INFO] [1693901247.477169358]: ** Starting nodelet '/zedxm/zed_node' ** [ INFO] [1693901247.477504047]: SDK version : 4.0.6 [ INFO] [1693901247.477703791]: GENERAL PARAMETERS [ INFO] [1693901247.479495762]: Camera Model by param -> zedxm [ INFO] [1693901247.482401303]: Camera Name -> zedxm [ INFO] [1693901247.484936412]: Camera Resolution -> HD1080 [ INFO] [1693901247.486558559]: Camera Grab Framerate -> 30 [ INFO] [1693901247.488018433]: Gpu ID -> -1 [ INFO] [1693901247.489669860]: Camera ID -> 0 [ INFO] [1693901247.491507016]: Verbose -> DISABLED [ INFO] [1693901247.494786125]: Camera Flip -> DISABLED [ INFO] [1693901247.497634962]: * Self calibration -> ENABLED [ INFO] [1693901247.499882518]: VIDEO PARAMETERS [ INFO] [1693901247.501325081]: * Image resample factor -> 0.5 [ INFO] [1693901247.501471737]: DEPTH PARAMETERS [ INFO] [1693901247.502755580]: Depth quality -> ULTRA [ INFO] [1693901247.503980926]: OpenNI mode -> DISABLED [ INFO] [1693901247.505570401]: Depth Stabilization -> 1 [ INFO] [1693901247.506899971]: Minimum depth -> 0.1 m [ INFO] [1693901247.508139653]: Maximum depth -> 10 m [ INFO] [1693901247.509378823]: Depth resample factor -> 0.5 [ INFO] [1693901247.509476359]: POSITIONAL TRACKING PARAMETERS [ INFO] [1693901247.512543213]: Positional tracking -> ENABLED [ INFO] [1693901247.514835537]: Path rate -> 2 Hz [ INFO] [1693901247.516700436]: Path history size -> 1 [ INFO] [1693901247.519747002]: Odometry DB path -> /home/ubuntu/.ros/zed_area_memory.area [ INFO] [1693901247.522894847]: Save Area Memory on closing -> DISABLED [ INFO] [1693901247.527109415]: Area Memory -> ENABLED [ INFO] [1693901247.530186636]: IMU Fusion -> ENABLED [ INFO] [1693901247.532646193]: Floor alignment -> DISABLED [ INFO] [1693901247.535188853]: Init Odometry with first valid pose data -> ENABLED [ INFO] [1693901247.537621690]: Two D mode -> DISABLED [ INFO] [1693901247.539955486]: MAPPING PARAMETERS [ INFO] [1693901247.542262722]: Mapping -> DISABLED [ INFO] [1693901247.544577030]: Clicked point topic -> /clicked_point [ INFO] [1693901247.544751462]: OBJECT DETECTION PARAMETERS [ INFO] [1693901247.547154027]: SENSORS PARAMETERS [ INFO] [1693901247.548476909]: Sensors timestamp sync -> DISABLED [ INFO] [1693901247.550003280]: Max sensors rate -> 400 [ INFO] [1693901247.550126224]: SVO PARAMETERS [ INFO] [1693901247.552375924]: SVO input file: -> [ INFO] [1693901247.553692374]: SVO REC compression -> H265 (HEVC) [ INFO] [1693901247.555998682]: COORDINATE FRAMES [ INFO] [1693901247.562464454]: map_frame -> map [ INFO] [1693901247.562625958]: odometry_frame -> odom [ INFO] [1693901247.562740486]: base_frame -> base_link [ INFO] [1693901247.562854151]: camera_frame -> zedxm_camera_center [ INFO] [1693901247.562958407]: imu_link -> zedxm_imu_link [ INFO] [1693901247.563041159]: left_camera_frame -> zedxm_left_camera_frame [ INFO] [1693901247.563151079]: left_camera_optical_frame -> zedxm_left_camera_optical_frame [ INFO] [1693901247.563244455]: right_camera_frame -> zedxm_right_camera_frame [ INFO] [1693901247.563325415]: right_camera_optical_frame -> zedxm_right_camera_optical_frame [ INFO] [1693901247.563470856]: depth_frame -> zedxm_left_camera_frame [ INFO] [1693901247.563564392]: depth_optical_frame -> zedxm_left_camera_optical_frame [ INFO] [1693901247.563696808]: disparity_frame -> zedxm_left_camera_frame [ INFO] [1693901247.563777096]: disparity_optical_frame -> zedxm_left_camera_optical_frame [ INFO] [1693901247.563865576]: confidence_frame -> zedxm_left_camera_frame [ INFO] [1693901247.563942984]: confidence_optical_frame -> zedxm_left_camera_optical_frame [ INFO] [1693901247.566515309]: Broadcast odometry TF -> ENABLED [ INFO] [1693901247.568743473]: Broadcast map pose TF -> ENABLED [ INFO] [1693901247.570934165]: Broadcast IMU pose TF -> ENABLED [ INFO] [1693901247.571075669]: DYNAMIC PARAMETERS (Init. values) [ INFO] [1693901247.572158423]: [DYN] Depth confidence -> 30 [ INFO] [1693901247.573376313]: [DYN] Depth texture conf. -> 100 [ INFO] [1693901247.574584827]: [DYN] pub_frame_rate -> 15 Hz [ INFO] [1693901247.575750014]: [DYN] point_cloud_freq -> 10 Hz [ INFO] [1693901247.576984096]: [DYN] brightness -> 4 [ INFO] [1693901247.578214530]: [DYN] contrast -> 4 [ INFO] [1693901247.579361156]: [DYN] hue -> 0 [ INFO] [1693901247.580535846]: [DYN] saturation -> 4 [ INFO] [1693901247.581751528]: [DYN] sharpness -> 4 [ INFO] [1693901247.582940938]: [DYN] gamma -> 8 [ INFO] [1693901247.584328397]: [DYN] auto_exposure_gain -> ENABLED [ INFO] [1693901247.587548819]: [DYN] auto_whitebalance -> ENABLED [ INFO] [1693901249.133495911]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD [ INFO] [1693901249.134620937]: *** Opening ZED X Mini... [ INFO] [1693901256.316018783]: ZED connection -> SUCCESS [ INFO] [1693901258.317006372]: ... ZED ready [ INFO] [1693901258.318055685]: ZED SDK running on GPU #0 [ INFO] [1693901258.380748092]: Camera-IMU Transform: AAAAE6E6B328 0.999966 -0.007716 0.002843 -0.002000 0.007723 0.999966 -0.002745 -0.023000 -0.002822 0.002766 0.999992 0.000220 0.000000 0.000000 0.000000 1.000000

[ INFO] [1693901258.380934716]: CAMERA MODEL -> ZED X Mini [ INFO] [1693901258.381112956]: Serial Number -> 58974489 [ INFO] [1693901258.381319324]: Camera FW Version -> 2001 [ INFO] [1693901258.382602174]: Sensors FW Version -> 1000 [ INFO] [1693901260.150245698]: Advertised on topic /zedxm/zed_node/rgb/image_rect_color [ INFO] [1693901260.150469635]: Advertised on topic /zedxm/zed_node/rgb/camera_info [ INFO] [1693901260.688572705]: Advertised on topic /zedxm/zed_node/rgb_raw/image_raw_color [ INFO] [1693901260.688736065]: Advertised on topic /zedxm/zed_node/rgb_raw/camera_info [ INFO] [1693901260.812702048]: Advertised on topic /zedxm/zed_node/left/image_rect_color [ INFO] [1693901260.812870016]: Advertised on topic /zedxm/zed_node/left/camera_info [ INFO] [1693901261.224127634]: Advertised on topic /zedxm/zed_node/left_raw/image_raw_color [ INFO] [1693901261.224364882]: Advertised on topic /zedxm/zed_node/left_raw/camera_info [ INFO] [1693901261.585049750]: Advertised on topic /zedxm/zed_node/right/image_rect_color [ INFO] [1693901261.585329463]: Advertised on topic /zedxm/zed_node/right/camera_info [ INFO] [1693901262.005603078]: Advertised on topic /zedxm/zed_node/right_raw/image_raw_color [ INFO] [1693901262.005861222]: Advertised on topic /zedxm/zed_node/right_raw/camera_info [ INFO] [1693901262.279328575]: Advertised on topic /zedxm/zed_node/rgb/image_rect_gray [ INFO] [1693901262.279520319]: Advertised on topic /zedxm/zed_node/rgb/camera_info [ INFO] [1693901262.493463279]: Advertised on topic /zedxm/zed_node/rgb_raw/image_raw_gray [ INFO] [1693901262.493654960]: Advertised on topic /zedxm/zed_node/rgb_raw/camera_info [ INFO] [1693901262.703206909]: Advertised on topic /zedxm/zed_node/left/image_rect_gray [ INFO] [1693901262.703474493]: Advertised on topic /zedxm/zed_node/left/camera_info [ INFO] [1693901263.034896124]: Advertised on topic /zedxm/zed_node/left_raw/image_raw_gray [ INFO] [1693901263.035594557]: Advertised on topic /zedxm/zed_node/left_raw/camera_info [ INFO] [1693901263.185419612]: Advertised on topic /zedxm/zed_node/right/image_rect_gray [ INFO] [1693901263.185656828]: Advertised on topic /zedxm/zed_node/right/camera_info [ INFO] [1693901263.321794514]: Advertised on topic /zedxm/zed_node/right_raw/image_raw_gray [ INFO] [1693901263.322059762]: Advertised on topic /zedxm/zed_node/right_raw/camera_info [ INFO] [1693901263.481412215]: Advertised on topic /zedxm/zed_node/depth/depth_registered [ INFO] [1693901263.481726839]: Advertised on topic /zedxm/zed_node/depth/camera_info [ INFO] [1693901263.666396685]: Advertised on topic /zedxm/zed_node/stereo/image_rect_color [ INFO] [1693901263.810133928]: Advertised on topic /zedxm/zed_node/stereo_raw/image_raw_color [ INFO] [1693901263.812882313]: Advertised on topic /zedxm/zed_node/confidence/confidence_map [ INFO] [1693901263.815578507]: Advertised on topic /zedxm/zed_node/disparity/disparity_image [ INFO] [1693901263.817788845]: Advertised on topic /zedxm/zed_node/point_cloud/cloud_registered [ INFO] [1693901263.825582161]: Advertised on topic /zedxm/zed_node/pose [ INFO] [1693901263.829028980]: Advertised on topic /zedxm/zed_node/pose_with_covariance [ INFO] [1693901263.831682709]: Advertised on topic /zedxm/zed_node/odom [ INFO] [1693901263.883909174]: Advertised on topic /zedxm/zed_node/path_odom [ INFO] [1693901263.949659584]: Advertised on topic /zedxm/zed_node/path_map [ INFO] [1693901263.977751762]: Advertised on topic /zedxm/zed_node/imu/data [ INFO] [1693901264.003134626]: Advertised on topic /zedxm/zed_node/imu/data_raw [ INFO] [1693901264.008356069]: Advertised on topic /zedxm/zed_node/temperature/imu [ INFO] [1693901264.015719497]: Advertised on topic /zedxm/zed_node/left_cam_imu_transform [LATCHED] [ INFO] [1693901264.083345266]: Subscribed to topic /clicked_point [ INFO] [1693901264.212184958]: Starting Positional Tracking [ INFO] [1693901264.212548798]: Waiting for valid static transformations... [ INFO] [1693901264.213020447]: Static transform Sensor to Base [zedxm_left_camera_frame -> base_link] [ INFO] [1693901264.213322591]: Translation: {0.010,-0.025,-0.016} [ INFO] [1693901264.213615519]: Rotation: {0.000,-0.000,0.000} [ INFO] [1693901264.213927839]: Static transform Sensor to Camera Center [zedxm_left_camera_frame -> zedxm_camera_center] [ INFO] [1693901264.214125919]: Translation: {0.010,-0.025,0.000} [ INFO] [1693901264.214342528]: Rotation: {0.000,-0.000,0.000} [ INFO] [1693901264.214611712]: Static transform Camera Center to Base [zedxm_camera_center -> base_link] [ INFO] [1693901264.214825216]: Translation: {0.000,0.000,-0.016} [ INFO] [1693901264.215031616]: Rotation: {0.000,-0.000,0.000} [ INFO] [1693901264.216189025]: Published static transform 'zedxm_imu_link' -> 'zedxm_left_camera_frame' [ INFO] [1693901264.315462076]: Initial ZED left camera pose (ZED pos. tracking): [ INFO] [1693901264.316184284]: T: [-0.01,0.025,0.016] [ INFO] [1693901264.316941212]: * Q: [0,0,0,1] [ WARN] [1693901264.318054845]: area_memory_db_path [/home/ubuntu/.ros/zed_area_memory.area] doesn't exist or is unreachable. [ INFO] [1693901264.604402535]: Positional tracking -> Searching for a known position [SEARCHING] [ INFO] [1693901264.604903144]: Odometry aligned to last tracking pose [ INFO] [1693901264.702131937]: Positional tracking -> OK [OK] [ WARN] [1693901265.775732931]: Elaboration takes longer (0.0846308 sec) than requested by the FPS rate (0.033333333 sec). Please consider to lower the 'frame_rate' setting or to reduce the power requirements reducing the resolutions.

github-actions[bot] commented 11 months ago

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days

Myzhar commented 11 months ago

Fixed with latest merge https://github.com/stereolabs/zed-ros-wrapper/pull/918