Astra: Publish rate is too low (2.7)
Dear ROS community!
I am using an Astra Mini S with ROS kinetic (version 1.12.13) on Ubuntu 16.04.
I want to capture a point cloud as fast as possible. But that is not working...
When I measure the rate of the topics that come from the astra_camera package all of them seem to be at about ~2.7.
For example: rostopic hz /camera_1/depth/points which returns
average rate: 2.680
min: 0.373s max: 0.373s std dev: 0.00000s window: 2
But also the raw topics are at that rate: rostopic hz /camera_1/rgb/image_raw
average rate: 2.747
min: 0.360s max: 0.366s std dev: 0.00263s window: 4
Is there a way to control the rate at which the camera publishes messages? Am I missing something?
Thank you for your time in advance Daniel
Asked by Danipol on 2018-07-10 09:04:40 UTC
Comments
You should get rather constant 30Hz (and I haven't noticed a parameter to change it). Is the camera the only device on its USB-Hub?
Asked by NEngelhard on 2018-07-10 12:28:24 UTC
Hi NEngelhard! Thanks for the answer it turned out to be the data_skip=10 param which was hidden deep in a launch file.
Asked by Danipol on 2018-07-11 08:24:14 UTC