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Nodelet run via a launch file is slower than a nodelet run via a terminal

Hello,

I am trying to run the depth_image_proc nodelet to transform a depth and colour image into a rgb pointcloud. The nodelets are working wen i run the separately on multiple terminals, but the slowdown drastically wen i launch them in a launch file. When launched from a terminal the depth_image_proc/register nodelet has frame rate of 20 fps, but wen i launch the depth_image_proc/register nodelet with a launch file i get around 1 frame every 5 seconds. The launch file i use is as following:

<launch>
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
  <node pkg="nodelet" type="nodelet" name="step_1" args="load depth_image_proc/register standalone_nodelet">
    <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
    <remap from="depth/camera_info" to="/camera/depth/camera_info"/>
    <remap from="depth/image_rect" to="/camera/depth/image_rect_raw"/>
  </node>
</launch>

Does any one have a idea why the nodelet slows down when launch from a launch file and how to pevernt it?

The system i am running is a ubuntu 16.04 LTS and ROS kinetic. Beside the nodelets i am also running the realsense2_camera demo_pointcloud.launch file to get information from the camera.

Nodelet run via a launch file is slower than a nodelet run via a terminal

Hello,

I am trying to run the depth_image_proc nodelet to transform a depth and colour image into a rgb pointcloud. The nodelets are working wen i run the separately on multiple terminals, but the slowdown drastically wen i launch them in a launch file. When launched from a terminal the depth_image_proc/register nodelet has frame rate of 20 fps, but wen i launch the depth_image_proc/register nodelet with a launch file i get around 1 frame every 5 seconds. The launch file i use is as following:

<launch>
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
  <node pkg="nodelet" type="nodelet" name="step_1" args="load depth_image_proc/register standalone_nodelet">
    <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
    <remap from="depth/camera_info" to="/camera/depth/camera_info"/>
    <remap from="depth/image_rect" to="/camera/depth/image_rect_raw"/>
  </node>
</launch>

Does any one have a idea why the nodelet slows down when launch from a launch file and how to pevernt it?

The system i am running is a ubuntu 16.04 LTS and ROS kinetic. Beside the nodelets i am also running the realsense2_camera demo_pointcloud.launch file to get information from the camera.

Edit 1:

I am running the following commands in two different terminal: rosrun nodelet nodelet manager __name:=nodelet_manager and rosrun nodelet nodelet load depth_image_proc/register nodelet_manager __name:=step_1 rgb/camera_info:=/camera/color/camera_info depth/camera_info:=/camera/depth/camera_info depth/image_rect:=/camera/depth/image_rect_raw

Edit 2:

I know that the realsense2_camera uses /camera/realsense2_camera_manager nodelet manager.

Nodelet run via a launch file is slower than a nodelet run via a terminal

Hello,

I am trying to run the depth_image_proc nodelet to transform a depth and colour image into a rgb pointcloud. The nodelets are working wen i run the separately on multiple terminals, but the slowdown drastically wen i launch them in a launch file. When launched from a terminal the depth_image_proc/register nodelet has frame rate of 20 fps, but wen i launch the depth_image_proc/register nodelet with a launch file i get around 1 frame every 5 seconds. The launch file i use is as following:

<launch>
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
  <node pkg="nodelet" type="nodelet" name="step_1" args="load depth_image_proc/register standalone_nodelet">
    <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
    <remap from="depth/camera_info" to="/camera/depth/camera_info"/>
    <remap from="depth/image_rect" to="/camera/depth/image_rect_raw"/>
  </node>
</launch>

Does any one have a idea why the nodelet slows down when launch from a launch file and how to pevernt it?

The system i am running is a ubuntu 16.04 LTS and ROS kinetic. Beside the nodelets i am also running the realsense2_camera demo_pointcloud.launch file to get information from the camera.

Edit 1:

I am running the following commands in two different terminal: terminal:

$ rosrun nodelet nodelet manager __name:=nodelet_manager__name:=nodelet_manager
 and 

and

rosrun nodelet nodelet load depth_image_proc/register nodelet_manager __name:=step_1 rgb/camera_info:=/camera/color/camera_info depth/camera_info:=/camera/depth/camera_info depth/image_rect:=/camera/depth/image_rect_rawdepth/image_rect:=/camera/depth/image_rect_raw

Edit 2:

I know that the realsense2_camera uses /camera/realsense2_camera_manager nodelet manager.