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2019-05-20 02:36:27 -0500	marked best answer	rviz view_robot extreme slowdown I am trying to understand the reason for an extreme slowdown in visualization of the turtlebot view. I am very new to ROS. I have a recently assembled turtlebot that I can tele-operate. It took me some time to figure out how to launch its 3d camera (Orbbec Astra); I only managed to do it by installing astra_camera and astra_launch packages. I am now trying to visualize what the robot sees using rviz. After launching the camera on the robot (roslaunch astra_launch astra.launch) I launch rviz on the workstation: roslaunch turtlebot_rviz_launchers view_robot.launch. The problem is that visualization works extremely slow. I only tried Image and DepthCloud. Visualization starts with just a few frames per second, quickly degrading to less than a frame per second, then freezing. Occasionally unfreezing to show a few frames, then freezing again. DepthCloud is probably even worse than Image. It seems to me there is some problem in communication between the workstation and turtlebot. I observed what happens to ping readings when I use rviz. When there is no stream of data (Image and DepthCloud are unchecked in rviz), everything is fine, ping time is in order of milliseconds, and I have no problem tele-operating the robot. When I turn on the data stream (check Image or DepthCloud), ping time quickly climbs to hundreds or thousands of milliseconds, rviz shows something, then freezes for sometime, like I described above. At this point I either cannot control the bot via teleop, or there is a lag of up to many seconds. If I interrupt the data stream by unchecking corresponding boxes in rviz, everything comes back to normal and I can teleop again. Can somebody help me understand this behavior and how it can be fixed? I have ubuntu 14.04, ROS-indigo. The turtlebot is new, and the workstation is not very old.
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2017-07-25 13:50:51 -0500	marked best answer	Is this a normal latency for ROS with Turtlebot? I am new to ROS and I know little about what to expect from it and from my Turtlebot2 in terms of performance. It does seem to me that it works too slow, but I do not know for sure. I would like someone to confirm this, and maybe suggest ways to diagnose my setup to find the reason of this slowness. Everything looks good if nothing on the workstation is subscribed to the camera feeds: $ rosnode ping --all Will ping the following nodes: * /zeroconf/zeroconf * /camera/driver * /camera_base_link * /master * /capability_server * /cmd_vel_mux * /camera/depth_metric * /robot_state_publisher * /bumper2pointcloud * /camera/depth_rectify_depth * /camera/depth_points * /interactions * /app_manager * /camera/depth_metric_rect * /capability_server_nodelet_manager * /mobile_base * /rosout * /camera/rectify_color * /camera/camera_nodelet_manager * /turtlebot_teleop_keyboard * /rviz * /camera_base_link1 * /camera_base_link3 * /camera_base_link2 * /diagnostic_aggregator * /camera/points_xyzrgb_sw_registered * /camera/register_depth_rgb * /mobile_base_nodelet_manager pinging /zeroconf/zeroconf with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:51171/ time=7.439137ms pinging /camera/driver with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:46037/ time=8.575916ms pinging /camera_base_link with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:59431/ time=7.348061ms pinging /master with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:35006/ time=36.192894ms pinging /capability_server with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:49286/ time=11.957169ms pinging /cmd_vel_mux with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:35104/ time=20.205975ms pinging /camera/depth_metric with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:42717/ time=92.966080ms pinging /robot_state_publisher with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:59314/ time=8.183002ms pinging /bumper2pointcloud with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:45636/ time=13.126135ms pinging /camera/depth_rectify_depth with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:53540/ time=7.639170ms pinging /camera/depth_points with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:43682/ time=11.249065ms pinging /interactions with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:54360/ time=13.771057ms pinging /app_manager with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:38159/ time=15.375137ms pinging /camera/depth_metric_rect with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:38714/ time=10.761976ms pinging /capability_server_nodelet_manager with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:58260/ time=7.064819ms pinging /mobile_base with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:47401/ time=25.177002ms pinging /rosout with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:47568/ time=17.100096ms pinging /camera/rectify_color with a timeout of 3.0s xmlrpc reply from http://192.168.xx.x16:60723/ time=17.340899ms pinging /camera/camera_nodelet_manager with a timeout of 3.0s xmlrpc reply ... (more)
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2017-07-25 13:50:27 -0500	commented answer	Is this a normal latency for ROS with Turtlebot? I think you are right. I did just try throttling a topic and testing it with rostopic hz and rosnode ping --all. The pin
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2017-07-24 20:30:56 -0500	commented question	Is this a normal latency for ROS with Turtlebot? @jayess, it seems I do have network issues when something subscribes to the camera streams, like rviz or rostopic hz. It
2017-07-24 15:07:29 -0500	asked a question	Is this a normal latency for ROS with Turtlebot? Is this a normal latency for ROS with Turtlebot? I am new to ROS and I know little about what to expect from it and from
2017-07-24 13:03:00 -0500	edited answer	rviz view_robot extreme slowdown I partially resolved my issue. When displaying the camera feed in RViz, I had to choose appropriate settings for the Tra
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2017-07-23 18:19:42 -0500	answered a question	rviz view_robot extreme slowdown I partially resolved my issue. When displaying the camera feed in RViz, I had to choose appropriate settings for the Tra
2017-07-22 00:55:56 -0500	asked a question	rviz view_robot extreme slowdown rviz view_robot extreme slowdown I am trying to understand the reason for an extreme slowdown in visualization of the tu