'zed2i/zed_node/point_cloud/cloud_registered' topic frequency

[wjd123ap]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I changed both pub rate,grab rate and point cloud frequency in common.yaml and zed2i.yaml. 'zed2i/zed_node/point_cloud/cloud_registered' topic frequency remains unchanged and is published fixed at 15Hz. The image is published at frequency I set.

Steps to Reproduce

1.roslauch zed_wrapper zed2i.launch

2. rostopic hz 'zed2i/zed_node/point_cloud/cloud_registered'

3. ...

Expected Result

Please solve the topic frequency problem of the point cloud

Actual Result

subscribed to [/zed2i/zed_node/point_cloud/cloud_registered] average rate: 15.438 min: 0.062s max: 0.066s std dev: 0.00194s window: 4 average rate: 15.125 min: 0.062s max: 0.067s std dev: 0.00114s window: 19 average rate: 15.074 min: 0.062s max: 0.070s std dev: 0.00124s window: 34 average rate: 15.059 min: 0.062s max: 0.070s std dev: 0.00115s window: 50 average rate: 15.052 min: 0.062s max: 0.070s std dev: 0.00112s window: 55

ZED Camera model

ZED2i

Environment

OS: jetpack5.1.1
CPU:ARM
GPU:jetson orin nx 16G
sdk:4.0
other:ros noetic

Anything else?

No response

[Myzhar]

Hi @wjd123ap please post the values that you set for each parameter.

[github-actions[bot]]

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

[Song-Jingyu]

Hi, I have exactly the same issue. I set 30 for all the frame rate parameters and I tried different depth quality but all get 15Hz for the point cloud topic.

[Alessio-Parmeggiani]

I have the same issue, changing the point_cloud_freq parameter in the common.yaml file does not change the publish rate for the pointcloud topic.