ROS2 Image Stream in Multiple Devices

asked 2022-12-05 01:26:20 -0500

januarks14
1 ●1 ●2

Hi, I have ROS2 installed on my laptop and my Jetson AGX Xavier (JP 5.0.2/Foxy). I try to Send and receive image data from each other. I have my QoS Setting to Best Effort, Keep Last, with Depth 10, but it's still too slow and sometimes it just stops for a while in the subscriber node. I have researched several forums including this ROS forum and still didn't find any answer yet. I connected the device using ethernet. Thank you.

answered 2022-12-05 07:02:55 -0500

ljaniec

3064 ●14 ●297 ●50 https://www.linkedin.c...

updated 2022-12-05 07:05:42 -0500

Hello, can you a minimal reproducible example with more information?

How big are your images? Can you lower their resolution? Maybe you should compress their resolution a bit (based on your needs, of course). Choice of C++over Python implementation of your subscriber node also can speed things up.

Perhaps you can also check zero-copy transfer (here: https://discourse.ros.org/t/using-zer...).

This tutorial is for ROS1 Noetic and Raspberry Pi, but you can check some more general hints:

ROS with Raspberry Pi: Improving Image Streaming Performance

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Hi, Thank you for your answer. I found that my ROS2 prioritize wifi as main network. I just found this https://answers.ros.org/question/3840... to solve my problem. Anyway, I will try zero copy and DDS tuning too.

januarks14 ( 2022-12-07 00:28:45 -0500 )edit

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