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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?
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 ( http://wiki.ros.org/rgbd_launch ) 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 ( https://github.com/ros-drivers/openni... ).
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.
Asked: 2015-01-12 10:10:44 -0600
Seen: 202 times
Last updated: Mar 03 '15
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