Unable to increase FPS for ZED Mini

[sandeepdutta]

Preliminary Checks

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Description

I am unable to increase the FPS for ZED Mini in the ros wrapper. I tried increasing the grab_rate in "zedm.yaml" but it gave a waring and reverted back to 15 FPS. I want to capture @ WVGA resolution , according to the sec I should about 100 FPS . How do I set this up in ROS.

Sandeep

Steps to Reproduce

1. Set publish_rate to > 15 in common.yaml
2. Set grab_rate >= publish_rate in zedm.yaml
3. launch zedm.launch.py Observe warnings

Expected Result

Publish rate increase

Actual Result

Publish defaults down to 15 FPS

ZED Camera model

ZED Mini

Environment

OS : Jet Pack 5.2
CPU : ARM
GPU; Nvidia Jetson ORIN AGX
Latest Zed SDK 4.0
ROS Humble

Anything else?

No response

[Myzhar]

Hi @sandeepdutta can you please share your common.yaml and zedm.yaml files? Please also post the output of the command $ ros2 launch zed_wrapper zedm.launch.py

[sandeepdutta]

Hi Myzhar,

I have uploaded the three files you requested, note if I change the publish rate only it will say publish_rate cannot be greater than grab_rate and reverts it to grab_rate. If I increase grab_rate it says it is an invalid value and reverts it to 15.

zed_upload.zip

[Myzhar]

grab_frame_rate: 20 -> this is not valid. In VGA mode you can set it to 15,30,60, or 100

[sandeepdutta]

Thank you that worked.