Elaboration takes longer

Software ROS1
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1

Hi,
I’m using ZEDx camera with Jetson Orin ZED box, when collecting ROSbag based on ROS1 driver, I met some warnings:

[ WARN] [1714740062.720942539]: Elaboration takes longer (0.172246 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740075.408310242]: Elaboration takes longer (1.29495 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740087.115231339]: Elaboration takes longer (0.308345 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740114.293699925]: Elaboration takes longer (2.84058 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740125.292536978]: Elaboration takes longer (3.6063 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740155.695566743]: Elaboration takes longer (6.11817 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740176.203738535]: Elaboration takes longer (7.34168 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740198.186072835]: Elaboration takes longer (0.444714 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740217.513218055]: Elaboration takes longer (2.29169 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.
[ WARN] [1714740230.603823812]: Elaboration takes longer (2.49006 sec) than requested by the FPS rate (0.100000000 sec). Please consider to lower the ‘frame_rate’ setting or to reduce the power requirements reducing the resolutions.

In the common.yaml:
pub_frame_rate: 10.0

In the zedx.yaml
general:
camera_model: ‘zedx’
resolution: 6 # ‘1’: HD1080 - ‘2’: HD1200 - ‘4’: SVGA - ‘6’: AUTO
grab_frame_rate: 10

depth:
min_depth: 0.2
max_depth: 10.0 # Max: 40.0

For rosbag records, all topics related to IMU, image, pos and depth are records, but only image topics drop frames. Is there any parameters can be set to solve the warning?

Thank you!

2

Hi @yyyxs1125
are you using the latest version of the wrapper?
That warning message was dropped a few versions ago.

1 Like
3

Hi,
Thanks for the reply, for the newest version, can I do:
$ cd ~/catkin_ws/src
$ git clone --recursive GitHub - stereolabs/zed-ros-wrapper: ROS wrapper for the ZED SDK
$ cd …/
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash

to update?

4

Please follow this guide:

5

Hi, followed by commands on Github, when catkin_make, it faced the error:
In file included from /home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp:25:
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp:639:7: error: ‘POSITIONAL_TRACKING_MODE’ in namespace ‘sl’ does not name a type; did you mean ‘POSITIONAL_TRACKING_STATE’?
639 | sl::POSITIONAL_TRACKING_MODE mPosTrkMode = sl::POSITIONAL_TRACKING_MODE::GEN_2;
| ^~~~~~~~~~~~~~~~~~~~~~~~
| POSITIONAL_TRACKING_STATE
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp: In member function ‘virtual void zed_nodelets::ZEDWrapperNodelet::onInit()’:
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp:237:16: error: ‘struct sl::InitParameters’ has no member named ‘grab_compute_capping_fps’
237 | mZedParams.grab_compute_capping_fps = static_cast(mPubFrameRate);
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp: In member function ‘void zed_nodelets::ZEDWrapperNodelet::readPosTrkParams()’:
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp:962:7: error: ‘mPosTrkMode’ was not declared in this scope; did you mean ‘mPosTrkMutex’?
962 | mPosTrkMode = sl::POSITIONAL_TRACKING_MODE::GEN_1;
| ^~~~~~~~~~~
| mPosTrkMutex
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp:962:25: error: ‘sl::POSITIONAL_TRACKING_MODE’ has not been declared
962 | mPosTrkMode = sl::POSITIONAL_TRACKING_MODE::GEN_1;
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/zed-ros-wrapper/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp:966:7: error: ‘mPosTrkMode’ was not declared in this scope; did you mean ‘mPosTrkMutex’?
966 | mPosTrkMode = sl::POSITIONAL_TRACKING_MODE::GEN_2;
| ^~~~~~~~~~~
| mPosTrkMutex

how to solve it, before compile, I have delete build and del folders.

6

The master branch is only compatible with the latest version of the ZED SDK.
Please install it from this page.