Realsense Camera Performance Degrades Quickly

edit

Hello,

I've currently got a setup consisting of a 6 DOF arm and an Intel RealSense D415 camera (although I had a D435 before and it had the same issues). After launching the RealSense node in our project and loading the pointcloud, the camera is capable of loading in a few frames before it begins running into framerate problems. It then quickly begins to drop more and more frames until it ultimately freezes and fails to deliver any frames at all.

[ INFO] [1562346731.900809783, 1.015000000]: Add Filter: spatial
[ INFO] [1562346731.901590678, 1.015000000]: Add Filter: temporal
[ INFO] [1562346731.902254298, 1.016000000]: Add Filter: hole_filling
[ INFO] [1562346731.902942866, 1.017000000]: Add Filter: pointcloud
[ INFO] [1562346731.903596267, 1.017000000]: num_filters: 4
[ INFO] [1562346731.903648176, 1.017000000]: SELECTED BASE:Depth, 0
[ INFO] [1562346731.904474068, 1.018000000]: RealSense Node Is Up!
[ INFO] [1562346731.904501720, 1.018000000]: Setting Dynamic reconfig parameters.
[ INFO] [1562346732.050110613, 1.164000000]: Done Setting Dynamic reconfig parameters.
[ERROR] [1562346733.932040838, 3.044000000]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1562346733.932454670, 3.044000000]: Loading robot model 'depowdering'...
[ WARN] [1562346733.971338337, 3.083000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_cerlabdesktop_26264_3990808655646806900/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1562346734.057894908, 3.170000000]: Starting planning scene monitor
[ INFO] [1562346734.060781725, 3.172000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1562346741.131042227, 10.233000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ WARN] [1562346741.572037273, 10.673000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346741.954205249, 11.055000000]: No stream match for pointcloud chosen texture Process - Color
[ INFO] [1562346742.153011951, 11.253000000]: Ready to take commands for planning group arm.
[ INFO] [1562346742.153075302, 11.253000000]: Looking around: no
[ INFO] [1562346742.153099930, 11.253000000]: Replanning: no
[ WARN] [1562346743.221707559, 12.320000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346743.917548378, 13.015000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346744.908011476, 14.003000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346745.582100774, 14.677000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346748.120931448, 17.212000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346749.182137133, 18.272000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346749.588422703, 18.678000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346751.879785826, 20.966000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346753.179265898, 22.263000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346753.797406900, 22.880000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346755.903243074, 24.984000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346756.281854920, 25.362000000]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1562346756.550686822, 25 ...