Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I partially resolved my issue. When displaying the camera feed in RViz, I had to choose appropriate settings for the Transports hints. Namely, I had to switch from raw to compressed, or compressedDepth (for the DepthCloud). This setting affects which topic rviz subscribes to. For example, if you are displaying Image, and Transport Hint is set to row, rviz will subscribe to /camera/rgb/image_rect_color; while if Transport Hint is set to compressed, rviz will subscribe to /camera/rgb/image_rect_color/compressed. I guess the compressed stream transmits much faster. You can only verify with 'rostopic hz' command that the publishing rate for the compressed topic is substantially higher.

Perhaps it was a trivial issue, but as I said I am new to ROS.

I partially resolved my issue. When displaying the camera feed in RViz, I had to choose appropriate settings for the Transports hints. Namely, I had to switch from raw to compressed, or compressedDepth (for the DepthCloud). This setting affects which topic rviz subscribes to. For example, if you are displaying Image, and Transport Hint is set to row, raw, rviz will subscribe to /camera/rgb/image_rect_color; while if Transport Hint is set to compressed, rviz will subscribe to /camera/rgb/image_rect_color/compressed. I guess the compressed stream transmits much faster. You can only also verify with 'rostopic hz' command that the publishing rate for the compressed topic is substantially higher.

Perhaps it was a trivial issue, but as I said I am new to ROS.