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Image transfer between master pc and slave Pc

asked 2011-06-10 05:23:18 -0500

embeddedheaven gravatar image

updated 2011-06-10 06:35:40 -0500


I am doing an telerobot, the camera was put on the slave pc, and from the master pc I can teleoperate the slave robot via vision feedback.

The prolem is that I configured the master and slave pc using ros, I can received image but i very very slow.I don't know the reason why??

Ps, I am using wifi for communication between master and slave

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answered 2011-06-10 06:33:33 -0500

How are you subscribing to the images? If you're subscribing the raw image, the amount of data that has to be transferred could be quite large. Using one of the compressed transports (compressed or theora) may speed things up quite a bit. I'd suggest taking a look at the image_transport wiki page to learn more.

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answered 2011-06-10 09:26:40 -0500

Depending on your requirements you can get very low bandwidth image transfer by lowering resolution and framerate as well as using compression. I got good results by using a webcam, setting it to 160x120 resolution, 5fps and Theora codec. "rostopic bw" tells me this config uses about 10kB/s for image transfer, which is pretty low.

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answered 2011-06-11 03:57:01 -0500

embeddedheaven gravatar image


I use the image_transport with compressed plug-in and I get better results


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Asked: 2011-06-10 05:23:18 -0500

Seen: 821 times

Last updated: Jun 11 '11