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ros publisher Node speed

asked 2017-05-17 06:04:59 -0500

UsmanArif gravatar image

I am running a ros publisher/subscriber node, which receives a single image from a /image_pub topic , do some processing and publish the results on /results topic. The image_pub topic is publishing at 20Hz but my publisher/subscriber node runs at 12 hz(i found it using rostopic hz /results). Is there any way to improve the speed or tell my program to run at 20Hz. At start it was running at 20Hz. Then i turned off my Linux for lunch, came back and restarted my program. Now its running at 12 hz. I have restarted it again and again but still runs at 12 hz. Any solution..?

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answered 2017-05-18 18:51:55 -0500

UsmanArif gravatar image

Got the answer, I am using ORB features detection, and in some cases the number of detected points is quite large, making my program slower.

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Asked: 2017-05-17 06:04:59 -0500

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Last updated: May 18 '17