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How to check the pointcloud data rate from the turtlebot laptop to the workstation?

asked 2012-02-28 07:01:01 -0500

karthik gravatar image

updated 2012-02-28 07:41:18 -0500

Hi, I am successfully getting the pointclouds from the turtlebot and am able to view the cloud in my workstation. I would like to know the rate at which the original published data reaches the workstation so as to process the cloud in the similar or lesser rate. How to check the rate?

Any help here is appreciated.

Thanks, Karthik


When i do the

rostopic hz /camera/rgb/points

I get the following response

average rate: 0.177
    min: 5.369s max: 7.301s std dev: 0.35833s window: 26
no new messages
no new messages
no new messages
no new messages
no new messages
average rate: 0.177
    min: 5.369s max: 7.301s std dev: 0.35166s window: 27
no new messages
no new messages
no new messages
no new messages
no new messages
average rate: 0.177
    min: 5.369s max: 7.301s std dev: 0.34511s window: 28
no new messages

How do i interpret this?

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Comments

You are getting messages at 0.177 Hz, that is about 1 message every 6s.

dornhege gravatar image dornhege  ( 2012-02-28 07:46:15 -0500 )edit

1 message here is the entire cloud right? 640x480 points in a single msg?

karthik gravatar image karthik  ( 2012-02-28 07:56:42 -0500 )edit
1

Yes, each message is an entire cloud. Resolution depends on your settings. One cloud at full resolution has almost 10 MByte of data...

Ben_S gravatar image Ben_S  ( 2012-02-28 09:59:30 -0500 )edit

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answered 2012-02-28 07:19:07 -0500

You can do that using

rostopic hz [your_point_cloud_topic]

Note that you shouldn't run your other workstation processes requesting the pointcloud at the same time, as this will require additional bandwidth.

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Thanks Stefan. May i know how to interpret the above msgs?

karthik gravatar image karthik  ( 2012-02-28 07:41:56 -0500 )edit

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Asked: 2012-02-28 07:01:01 -0500

Seen: 335 times

Last updated: Feb 28 '12