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You can skip frames to reduce frame rate via provided launch file (its comprehensive example which also set the mode to capture i.e. mode 2 here 640*480)

<launch> <arg name="kinect_frame_prefix" default="/head_mount_kinect"/> <arg name="kinect_camera_name" default="head_mount_kinect"/> <arg name="publish_tf" default="true"/>

<include file="$(find openni_launch)/launch/openni.launch"> <arg name="device_id" value="#1"/> <arg name="camera" value="$(arg kinect_camera_name)"/> <arg name="rgb_frame_id" value="$(arg kinect_frame_prefix)_rgb_optical_frame"/> <arg name="depth_frame_id" value="$(arg kinect_frame_prefix)_ir_optical_frame"/> <arg name="publish_tf" value="$(arg publish_tf)"/> <arg name="respawn" value="true"/> <arg name="depth_registration" value="true"/> </include>

</launch>

You can skip frames to reduce frame rate via provided launch file (its comprehensive example which also set the mode to capture i.e. mode 2 here 640*480)file

<launch> <arg name="kinect_frame_prefix" default="/head_mount_kinect"/> <arg name="kinect_camera_name" default="head_mount_kinect"/> <arg name="publish_tf" default="true"/><launch>

<include file="$(find openni_launch)/launch/openni.launch"> <arg name="device_id" value="#1"/> <arg name="camera" value="$(arg kinect_camera_name)"/> <arg name="rgb_frame_id" value="$(arg kinect_frame_prefix)_rgb_optical_frame"/> <arg name="depth_frame_id" value="$(arg kinect_frame_prefix)_ir_optical_frame"/> <arg name="publish_tf" value="$(arg publish_tf)"/> <arg name="respawn" value="true"/> <arg name="depth_registration" value="true"/> </include>

</launch>

You can skip frames to reduce frame rate via provided launch filefile " Set driver params for 640x480 at 1-2 Hz frame rate -- 0 is default, 10 will drop 9/10 frames "

<launch>

<include file="$(find openni_launch)/launch/openni.launch"> <arg name="device_id" value="#1"/> </include>

</launch>

You can skip frames to reduce frame rate via provided launch file " Set driver params for 640x480 at 1-2 Hz frame rate -- 0 is default, 10 will drop 9/10 frames "

<launch>

<include file="$(find openni_launch)/launch/openni.launch"> <arg name="device_id" value="#1"/> </include>

</launch>

You can skip frames to reduce frame rate via provided launch file " Set driver params for 640x480 at 1-2 Hz frame rate -- 0 is default, 10 will drop 9/10 frames "file

<launch>

<launch> <include file="$(find openni_launch)/launch/openni.launch"> <arg name="device_id" value="#1"/> </include>

</launch>

You can skip frames to reduce frame rate via provided launch filerate.

put Write this line in the launch file

<launch> <include file="$(find openni_launch)/launch/openni.launch"> <arg name="device_id" value="#1"/> </include>terminal

</launch>set param name="camera/driver/data_skip" value="10"

You can skip frames to reduce frame rate.

Write this line in the terminal

set param name="camera/driver/data_skip" value="10"

and then execute run

roslaunch openni_launch openni.launch file.

This will drop 10 frames and output 2-3Hz data, whereas default value is 0 (which output 30 frames/sec without any dropping)