How to save image topics of Full-HD size with ROSBag

Hello.

I'm trying to save image topic from Full-HD image camera. I ran my camera package on my pc. The publisher have 5 size of queue. I have used ImageTransport for publisher. the resolution of a image is 1920x1080. It is approximately 6 MB. And, It have 30 fps.

The throughput of result .bag file is not constant. The variation is 17~30. I tried to use some option for rosbag record like --buffsize, --chunksize. But there was no change for it. When I do that, the memory of RAM has continued to increase steadily.

I want to get images without throughput decrease. Is there any good solution or advise for me?

EDITED:

I saved images on the disk without communication using Ethernet.

Asked by harderthan on 2019-01-31 09:04:50 UTC

Comments

Answers

So the uncompressed image topic is 180 MB per second! If these are running as separate node then I think this will also be passing through the network adaptor, its no surprise that this is not running smoothly.

I think you will have to specify that rosbag only records the compressed image topic and not the raw topic to get this working reliably. See the rosbag command line parameteres here.

Hope this gets this working.

Asked by PeteBlackerThe3rd on 2019-01-31 09:25:42 UTC