Good afternoon,

I am starting to work with a vision for object detection. I started by testing using ar_tags detection, using the VISP library for that. So far, everything works perfectly. When I add this node to the remaining nodes of my system, I start to have communication errors; for example, the communication with the robotic arm controller is lost. My system is overloaded with too much information, and it becomes "heavy" subscribing to my RGBD camera topics.

At first, I thought the problem was in the code I wrote, but I tested it with the artag ([http://wiki.ros.org/artrack_alvar]) code, and it happened the same. I have also changed the frequency of the publishers and subscribers of the vision system node, but the problem persists.

Has anyone ever had a similar problem? My system consists of a mobile base and a robotic arm, and I use several nos. However, it only happens with the vision.

Thank you in advance for your help and attention.