Astra: Publish rate is too low (2.7) [closed]

asked 2018-07-10 09:04:40 -0500

Danipol gravatar image

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

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Closed for the following reason the question is answered, right answer was accepted by Danipol
close date 2018-07-11 08:24:39.581909


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?

NEngelhard gravatar image NEngelhard  ( 2018-07-10 12:28:24 -0500 )edit

Hi NEngelhard! Thanks for the answer it turned out to be the data_skip=10 param which was hidden deep in a launch file.

Danipol gravatar image Danipol  ( 2018-07-11 08:24:14 -0500 )edit