Image View Output Has Latency (usb_cam)

asked 2020-07-27 11:07:14 -0500

ProbablyHuman gravatar image

updated 2020-07-27 11:32:00 -0500

I'm running ros kinetic on a raspberry pi 3a+ using ubuntu 16.04. I was wanting to use usb_cam to display a camera's images, but the window from image_view that pops up seems to have some latency from what's happening IRL.

I ran htop to see what was causing the problem and it looks like one of my cores is maxed out by something. It seems to me that something in the usb_cam_node script is horribly inefficient somewhere, and is doing everything in a single thread.

This is all a guess, however. Maybe no matter what, this process is always that intensive and is simply something I have to deal with. This would be bad, however, for the application I'm using the video for is motion tracking, and delays would be obvious. Hopefully, its is just the displaying of such feed that has latency, and the message published to the topic is real-time. Does anyone know how I could modify their repo to be better optimized?

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