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depthimage_to_laserscan image transport not synchronized

asked 2020-04-24 11:42:49 -0500

didrif14 gravatar image

updated 2022-03-20 09:50:32 -0500

lucasw gravatar image


I am trying to use the depthimage_to_laserscan package to create a scan from a kinect plugin. My rqt_graph shows that the camera and scan are connected, and I can see the laser scan in Rviz.

Here is a picture of my rqt_graph: depth_to_laser.png

Here is my launch file:

<?xml version="1.0" encoding="utf-8"?>

    <!-- run depthimage_to_laserscan node -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" >

        <remap from="image" to="/frnt_cam_lnk/depth/image_raw"/>
        <remap from="/frnt_cam_lnk/depth/camera_info" to="/frnt_cam_lnk_ir/depth/camera_info"/>
        <remap from="scan" to="/frnt_cam_lnk/scan"/>
        <param name="scan_height" value="3"/> 
        <param name="output_frame_id" value="frnt_cam_lnk"/>



However, I get this warning in my terminal:

[ WARN] [1587747865.753137123, 37.318000000]: [image_transport] Topics '/frnt_cam_lnk/depth/image_raw' and '/frnt_cam_lnk_ir/depth/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      200
    CameraInfo messages received: 10
    Synchronized pairs:           10

This causes the laserscan to update severely delayed in rviz.

Any tips will be appreaciated!

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1 Answer

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answered 2020-04-28 12:57:12 -0500

didrif14 gravatar image

updated 2020-05-08 09:29:30 -0500

I found out that I had set two different update rates in the kinect plugin. The camera sensor <update_rate> was set to 20, while the plugin <updaterate> was set to 5.

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Asked: 2020-04-24 11:42:49 -0500

Seen: 499 times

Last updated: May 08 '20