camera topic low fps over LAN

asked 2019-09-10 13:03:45 -0500

mugetsu gravatar image

I have a camera that runs at 30fps at 720p on the local machine when streaming video over a rostopic. Everything looks smooth and great when I subscribe to it locally.

However, for my application we have another machine on the LAN which actually subscribes to it, but it's only getting 10fps. Same issue in rviz.

Is ROS throttling this? Has anyone else had to deal with such a situation?

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Are you subscribing to image_raw? That would be 30 x 720 x 1280 x 4 (for a 30 fps stream @ 720p 32bit colour) which is roughly 105 MB/sec (ignoring overhead by TCP/IP, ROS and image encoding). Even a gigabit ethernet connection would be almost saturated by that (theoretically: 125 MB/sec).

gvdhoorn gravatar image gvdhoorn  ( 2019-09-10 15:25:24 -0500 )edit