How to set PointGrey framerate?
I have a Point Grey Flea3 camera using pointgrey_camera_driver. Every time I launch it in ROS the frame rate is 7 FPS. I am able to change the frame rate to 30 FPS using rqt_reconfigure. I would like for the camera to start at 30 FPS by default. I have tried adding it as a param to the launch file but that didn't work. I also tried adding it to PointGrey.cfg but that didn't work either. I also tried adding it in the command line using "frame_rate:=30" but that didn't work.
Camera.launch
<!-- Determine this using rosrun pointgrey_camera_driver list_cameras.
If not specified, defaults to first camera found. -->
<arg name="camera_serial" default="0" />
<arg name="calibrated" default="0" />
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />
<node pkg="nodelet" type="nodelet" name="camera_nodelet"
args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
<param name="frame_id" value="camera" />
<param name="serial" value="$(arg camera_serial)" />
<!-- When unspecified, the driver will use the default framerate as given by the
camera itself. Use this parameter to override that value for cameras capable of
other framerates. -->
<param name="frame_rate" value="30" />
<!-- Use the camera_calibration package to create this file -->
<param name="camera_info_url" if="$(arg calibrated)"
value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
</node>
<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
args="load image_proc/debayer camera_nodelet_manager">
</node>
</group>
</launch>
PointGrey.cfg
gen.add("frame_rate", double_t, SensorLevels.RECONFIGURE_RUNNING, "Camera speed (frames per second).", 30, 0, 100)
To my mind that should work. When I tried to increase the framerate I also modified the camera.launch file. The "frame_rate"-param was commented first so I uncommented it. I took a value of 150 (want the max). When I relaunched the camera.launch it worked with approx. 91 fps (says rqt_reconfig).
Did you solve that, pease?