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openni_camera number of topics is huge [closed]

asked 2015-01-12 10:10:44 -0500

mark_vision gravatar image

Hi all, I'm using openni and openni2 packages. They work fine but there's lot of topics out there! Is there a way to reduce the number of topics?

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Closed for the following reason the question is answered, right answer was accepted by mark_vision
close date 2017-09-27 02:21:07.166730

2 Answers

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answered 2015-03-03 11:37:49 -0500

paulbovbel gravatar image

I haven't looked at openni(1)_launch in a while, but at least in openni2_launch, a lot of those topics should be:

  • internal, meaning they are needed for the internal processing ( ) pipeline (raw_image->...->pointcloud)

  • lazy, meaning they are only published if someone is subscribing to them, and not taking up cycles otherwise

Depending on what data you're interested in, you can force-disable certain components of the rgbd_launch pipeline here ( ).

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Good answers. openni_launch is much the same in regards to having the ability to force-disable certain components.

sealguy77 gravatar image sealguy77  ( 2015-03-04 10:22:07 -0500 )edit

answered 2015-03-03 10:06:25 -0500

Nodes within openni_camera and openni_launch probably need to subscribe to those nodes to do the different processes it takes to produce a registered depth image. However, you could start reducing topics and see if it has any negative effects on the various images which openni_camera can produce.

If you really wanted to suppress openni_camera from publishing to certain topics, you could go through openni_camera/src/nodelets/driver.cpp, here, and start looking at line 172.

I am relatively new at this, so I am happy to leave it publishing to all these topics.

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Asked: 2015-01-12 10:10:44 -0500

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Last updated: Mar 03 '15