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stereolabs / zed-ros2-wrapper

ROS 2 wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros2/
Apache License 2.0
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Add expected performance metrics (benchmarks) for zed products in docs #104

Open jodusan opened 2 years ago

jodusan commented 2 years ago

Preliminary Checks

Proposal

Although documentation is very well written I believe that benchmarking FPS, CPU, GPU usage for depth sensing and positional tracking on Nvidia NX ( jetson box) ZED BOX for ros-2-wrapper (for example) could provide better estimate of what is expected at runtime. It seems that ZED Sdk processing is quite intensive and leaves little room to do other things (is multi camera setup on xavier NX even possible)?

Clarifications of these sorts of things would help a lot.

Use-Case

No response

Anything else?

No response

Myzhar commented 2 years ago

Hi @jodusan interesting request. The problem is that there are so many possible combinations that it is not easy to provide a benchmark for each of them. A short list of the variables involved:

jodusan commented 2 years ago

@Myzhar I was just reading through your comments here https://github.com/stereolabs/zed-ros2-wrapper/issues/22 is there a preferred DDS for Jetson boards? or at least configuration of the current one (FastDDS?) (In my case Jetson NX). I'm getting around 100% faster performance with ROS 1 Noetic than with ROS 2 Galactic zed-ros-wrapper

jodusan commented 1 year ago

EDIT2: Added screenshot

@Myzhar I'm trying to profile zed_ros2_wrapper node with valgrind to see where the bottleneck is, but when running zed2i.launch.py built with colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=RelWithDebInfo And added prefix=['xterm -e valgrind --tool=callgrind'] to zed_wrapper/launch/include/zed_camera.launch.py

It just dies with

""" [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [17922] [INFO] [zed_wrapper-2]: process started with pid [17924] [robot_state_publisher-1] Link zed2i_base_link had 1 children [robot_state_publisher-1] Link zed2i_camera_center had 2 children [robot_state_publisher-1] Link zed2i_left_camera_frame had 1 children [robot_state_publisher-1] Link zed2i_left_camera_optical_frame had 0 children [robot_state_publisher-1] Link zed2i_right_camera_frame had 1 children [robot_state_publisher-1] Link zed2i_right_camera_optical_frame had 0 children [robot_state_publisher-1] 1662634222.409792280 [zed2i.zed_state_publisher] [INFO] got segment base_link [robot_state_publisher-1] 1662634222.410137661 [zed2i.zed_state_publisher] [INFO] got segment zed2i_base_link [robot_state_publisher-1] 1662634222.410237791 [zed2i.zed_state_publisher] [INFO] got segment zed2i_camera_center [robot_state_publisher-1] 1662634222.410313312 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_frame [robot_state_publisher-1] 1662634222.410388417 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_optical_frame [robot_state_publisher-1] 1662634222.410467106 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_frame [robot_state_publisher-1] 1662634222.410528899 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_optical_frame [INFO] [zed_wrapper-2]: process has finished cleanly [pid 17924] """

Here is the output from valgrind xterm image

Any suggestions?