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Rviz is stop - need some help

asked 2014-02-16 03:48:54 -0600

seredin gravatar image

updated 2014-02-17 20:40:02 -0600

Hello all!

I have Ubuntu 12.04, Groovy. I launch openni_launch and rviz I have a problem with Rviz. When I add pointcloud2, rviz is stop and update one per two second. but i haven't any errors.

What is wrong? maybe it is tf?

Update1

Also I have warn message:

[ WARN] [1392574116.780493741]: TF exception:
Lookup would require extrapolation into the future.  Requested time 1392574116.741091059 but the latest data is at time 1392574116.679388999, when looking up transform from frame [/camera_depth_optical_frame] to frame [/camera_rgb_optical_frame]

and I found this topic http://answers.ros.org/question/12930...
maybe improper timestamps relevant for my case? but I can't check it.

This TF error in openni.launch file?

Update2

I am use intel core i7.

PID USER        PR  NI  VIRT  RES  SHR S %CPU %MEM    TIME+  COMMAND            
19715 max       20   0 2085m 551m  63m R   82 18.3   1:04.19 rviz               
19475 max       20   0 1543m  65m  22m S   74  2.2   0:44.53 nodelet
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Comments

What is the CPU usage on your computer while rviz is running?

ahendrix gravatar imageahendrix ( 2014-02-16 19:25:39 -0600 )edit

I am use intel core i7.

seredin gravatar imageseredin ( 2014-02-16 21:41:08 -0600 )edit

It looks like rviz is consuming most of a core. Do you have a dedicated graphics card, or are you using software OpenGL rendering?

ahendrix gravatar imageahendrix ( 2014-02-16 22:17:30 -0600 )edit

I am use OpenGL.

seredin gravatar imageseredin ( 2014-02-17 01:14:08 -0600 )edit

Doing a minor editing to your question just to push it to the top of the queue is bad form.

ahendrix gravatar imageahendrix ( 2014-02-17 22:00:34 -0600 )edit

You still haven't stated if you have a dedicated graphics card or not.

ahendrix gravatar imageahendrix ( 2014-02-17 22:01:26 -0600 )edit

I am sorry for my push. No. I haven't a dedicated graphics card.

seredin gravatar imageseredin ( 2014-02-18 02:05:23 -0600 )edit

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answered 2014-02-16 06:28:41 -0600

ahendrix gravatar image

updated 2014-02-18 06:20:09 -0600

This sounds like either there isn't enough network bandwidth, or your computer is too slow to display point clouds.

Running the system monitor application (GUI) or top (command line) should show the system CPU usage, which will give you some hints about where the problem is.

Rendering point clouds is pretty graphics-intensive. You may be able to squeeze a little more performance out of your system by switching the rendering style.

I suspect the tf issues you're seeing are due to buffering and lag issues caused by how long it takes for your computer to render a single point cloud.

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How I can change rendering style?

seredin gravatar imageseredin ( 2014-02-18 06:45:20 -0600 )edit

http://wiki.ros.org/rviz/DisplayTypes/PointCloud

ahendrix gravatar imageahendrix ( 2014-02-18 07:20:01 -0600 )edit

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Asked: 2014-02-16 03:48:54 -0600

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Last updated: Feb 18 '14