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Wireless is slow, many images are therefore dropped. This leads to badly synchronized images. RGBDSLAM uses the approximate time synchronizer to pair color and depth image (and camera info). I assume that the synchronization of the respective images is too bad to find pairs.

My suggestions:

  • Reduce bandwidth by using the monochrome image instead of rgb-color
  • Reduce bandwidth using qvga resolution.
  • Avoid the unsynchronized dropping of messages: Write and run a proxy node on the robot that combines color image, depth image and camera info in a custom message and sends that. Then on the other machine, write a proxy that splits the message and sends it again on three topics to rgbdslam. Then either all or nothing is dropped.