Problem publish and record big data

asked 2021-08-03 04:17:25 -0500

ssfs gravatar image

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.

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Can you try using the foxy-futurebranch of ros2bag? Just clone to your workspace, build the workspace, source it and run ros2 bag as always. Should print something like "running the futurized foxy version of rosbag" at the beggining.

mjbogusz gravatar image mjbogusz  ( 2021-08-03 16:58:56 -0500 )edit

For some background on why the foxy-future branch might solve this issue, spen about an hour of your time to read through this discourse thread :-)

mgruhler gravatar image mgruhler  ( 2021-08-04 08:19:36 -0500 )edit

Thanks a lot, it worked. I am reading now, so long story. :)

ssfs gravatar image ssfs  ( 2021-08-04 08:49:07 -0500 )edit

@ssfs have fun :-) If this solves it, please consider to self-answer and accept (or close as answered and correct). Thanks.

mgruhler gravatar image mgruhler  ( 2021-08-04 10:24:42 -0500 )edit