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ROS2 topic hz gives incorrect value with camera image #871
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I think there's a debate to made here: I think there's little point for the tool if the |
@EwingKang as you mentioned already, this is the same with #719. that would be really appreciated if you consider the contribution. |
So, I think there are two different things here. The first problem is that The follow-up comment is about sending large amounts of data to a subscriber, just for that subscriber to throw it all away to count packets. I agree that it is fairly wasteful, though it isn't totally clear to me how we would avoid it. Possibly we could do so with some changes to the RMW layer/DDS implementations, but even then I'm not sure how we would do it. For now, I'm going to close this as a duplicate of ros2/ros2#1499 . If you disagree with that assessment, feel free to reopen. |
I have lost quite a bit of time due to this issue (thinking that my camera driver was not working correctly, when in fact it was just |
Bug report
Required Info:
ros2 topic hz
)Steps to reproduce issue
I'm using a Lenovo E16 laptop that comes with built-in camera
Expected behavior
Reporting 30 FPS
*The misspelling are purposely done to identify my modification to the installed package
Actual behavior
Reporting 15-22 FPS or even lower
*The misspelling are purposely done to identify my modification to the installed package
Additional information
Affecting source code: here
Following the hint from this answers.ros discussions, I try modifying the QoS setting directly in the installed location
/opt/ros/iron/lib/python3.10/site-packages/ros2topic/verb/hz.py
. By changing the qos profile line torclpy.qos.qos_profile_parameters
, it is possible forros2 topic hz
to report correct frequency.Expected value: 30 Hz as configured by the camera node
I believe the primary factor is the RELIABILITY_RELIABLE. This is because I can also replicate frame loss and thus image stutter in rviz2 image viewer if the reliability Policy is set to Best Effort.
This is related to : #843, and might be alleviated with #719
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