Revision history [back]

Suggestion: avoid (de)serialisation altogether, and use nodelets.

Suggestion: avoid (de)serialisation altogether, and use nodelets.

Edit:

Do you have a suggestion on how one could do this, given the freenect_launch seems to be its own package? freenect_launch advertises the data I need, but I don't know how to go about acquiring the data in a nodelet fashion, [..].

nodelets are a bit of an art. It helps to know that they are essentially plugins to a nodelet manager process. I'm not sure about freenect, but at least openni_* launches a manager, into which you can load your own nodelet. That would receive the pointclouds, exchanging pointers 'under the hood', but looking like regular message exchanges at the application (your node) level.

But, just as @duck-development says, if the Jetson is too slow for all of this, using nodelets won't help you, as the bottleneck is then not the message passing, but somewhere else.

I don't even know where to start.

I'd suggest you first do the nodelet tutorial(s).

Suggestion: avoid (de)serialisation altogether, and use nodelets.

Edit:

Do you have a suggestion on how one could do this, given the freenect_launch seems to be its own package? freenect_launch advertises the data I need, but I don't know how to go about acquiring the data in a nodelet fashion, [..].

nodelets are a bit of an art. It helps to know that they are essentially plugins to a nodelet manager process. I'm not sure about freenect, but at least openni_* launches a manager, into which you can load your own nodelet. That would receive the pointclouds, exchanging pointers 'under the hood', but looking like regular message exchanges at the application (your node) level.level. Note that your nodelet can come from (so: be located) anywhere, as long as it is findable by pluginlib. freenect_launch being its own package does not matter.

But, just as @duck-development says, if the Jetson is too slow for all of this, using nodelets won't help you, as the bottleneck is then not the message passing, but somewhere else.

I don't even know where to start.

I'd suggest you first do the nodelet tutorial(s). If required, find some more examples by looking at the packages that use the nodelet package (wiki/nodelet (I'd use the Indigo page, as more pkgs have been released there), Package Links, Used by). image_proc and velodyne_* could be good example material (note that freenect_camera and _launch and openni_* are also listed).