Problem publish and record big data
I am using ROS Foxy with Cyclone DDS. I tuned DDS using ROS2 tutarial. I wrote ROS2 driver for lucid vision camera but it doesnt work properly for multiple camera.
For 2 cameras, i am checking frequency of each topics using ros2 topic hz and getting correct result, its 20 hz. But after record topics using ros2 bag record -a, fps of recorded topic decrease in time. Starting 20 fps and decrease to 13 fps. What is the cause of this problem? is it performance problem of my computer or transportation problem of DDS? I am saving 2 topic and each message 5 mb, 20 fps.
Asked by ssfs on 2021-08-03 04:17:25 UTC
Comments
Can you try using the
foxy-futurebranch of ros2bag? Just clone https://github.com/ros2/rosbag2/tree/foxy-future to your workspace, build the workspace, source it and runros2 bagas always. Should print something like "running the futurized foxy version of rosbag" at the beggining.Asked by mjbogusz on 2021-08-03 16:58:56 UTC
For some background on why the
foxy-futurebranch might solve this issue, spen about an hour of your time to read through this discourse thread :-)Asked by mgruhler on 2021-08-04 08:19:36 UTC
Thanks a lot, it worked. I am reading now, so long story. :)
Asked by ssfs on 2021-08-04 08:49:07 UTC
@ssfs have fun :-) If this solves it, please consider to self-answer and accept (or close as answered and correct). Thanks.
Asked by mgruhler on 2021-08-04 10:24:42 UTC