[BUG] {Low and drop in FPS and unsynchronized} #555
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As far as I know, the issue doesn't exist in the forum or on Github. I asked this on the forum, but no one replied with a solution there.
Describe the bug
A clear and concise description of what the bug is.
There is a drop in fps in ROS 2 camera image topics. After some time, left and right rectified images get unsynchronized, even though I have set the rectified stereo pair to be synchronized in the camera.yaml (i_publish_synced_rect_pair: true). In ROS 2, the fps starts at around 30 and then drops slowly to low values. I also tried the ROS 1 noetic Docker container, and in that case, the fps starts at 10 and is unsynchronized for the rectified pair. I have set i_fps to 90 and i_usb_speed to SUPER_PLUS, but still, the fps are less in ROS2 and ROS 1. Yes, I edited the camera.yaml to make it work with ROS 1 and ROS 2. Also, in the terminal output, I can see that the USB speed is SUPER, even though I have set it to SUPER_PLUS. I didn't yet use the depthai ROS 2 Docker container; I installed the ROS2 workspace from source on my Jetson Orin.
Minimal Reproducible Example
Append the MRE to the bug report, instructions here
If available launch files don't work in your case, please check if you also get errors while running:
stereo_inertial_nodeindepthai_examplescameraindepthai_ros_driverI am running the camera.launch.py launch file in both the stereo and depth pipelines, but I have the same problem in both, although there is no option to get synchronized rectified pairs in the stereo pipeline. I am not using depthai_examples because @jakaskerl told me not to use it. The cam_test.py is working, and it shows 30 fps in the terminal.
Expected behavior
A clear and concise description of what you expected to happen.
The fps should be atleast 30 and even more when I set it to 90 on SUPER_PLUS usb speed.
Screenshots
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Pipeline Graph
Please also provide a screenshot of your pipeline using the DepthAI Pipeline Graph.
You can save it in
depthai_ros_driver, either by calling/save_pipelineROS service, or by setting parametercamera.i_pipeline_dumpin ROS 2 orcamera_i_pipeline_dumpin ROS. Pipeline dump is saved to/tmp/pipeline.json.I am not sure if the pipeline graph is required or not, but I will try to get it and paste it here later on when I get the ros 2 driver working.
Attach system log
Provide output of log_system_information.py
log_system_information.json
Which OS/OS version are you using?
Jetpack 6 ubuntu 22.04
Which ROS version are you using?
2 on host and 1 in docker
Which ROS distribution are you using?
Humble and noetic
Is
depthai-rosbuilt from source or installed from apt?From source and it stopped working for some reason now. Only the docker noetic version is working.
Is
depthai/depthai-corelibrary installed from rosdep or manually? For rosdep install, check ifros-<rosdistro>-depthaipackage is installed, manual install can be checked withldconfig -p | grep depthaiIt was installed from the dependencies, not from source.
Please include versions of following packages -
apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driverDEPTHAI_DEBUG=1and paste the logs, either from command line or from latest log in~/.ros/logI have roslaunch logs, do you need rosout log or master log and :
Additional context
Add any other context about the problem here.
No, I want to use Rtabmap and ISaac slam with my oak FFC 3P board. I have two OV9282 cameras connected.
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