Jetson Orin nano with another Pc and Zed wrapper

Software ROS2
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1

Hello We are an ROV team using Zed2i camera and Jetson Orin nano super 8gb with Ethernet cable Cat6 which connected to Laptop

We are using Zed Ros2 wrapper and Ros2 Humble and setting up Cyclone DDS as Stereolabs documentation and using compressed images and Compressed depth and point clouds

But when we run ros2 hz zed/zed_node/left/image_rect_color/compressed on laptop it shows 30 fps and sometimes 60 fps according to my config

But when running the same command on laptop it reads max 6 FPS

While point cloud topic reads 5 fps on jetson and 0.9 fps on Laptop

We tried to make the resolution Native and Custom and the same issue happened

1 Like
2

Hi @Abdelrahman-Ashraf18
Welcome to the StereoLabs community.

The Jetson Orin nano super 8gb, is not powerful enough to handle all the possible RESOLUTION/FREQUENCY/DEPTH MODE combinations.

Please share your setup files (YAML) to verify what setup you are using.

Have you performed the same setup on all the machines?

3

Hello @Myzhar Thanks for replying!

this my yaml configs

the zed2i.yaml:

config/zed2i_yaml

Parameters for Stereolabs zed2i camera

/**:
ros__parameters:
general:
camera_model: ‘zed2i’
camera_name: ‘zed2i’ # overwritten by launch file
grab_resolution: ‘HD720’ # The native camera grab resolution. ‘HD2K’, ‘HD1080’, ‘HD720’, ‘VGA’, ‘AUTO’
grab_frame_rate: 30 # ZED SDK internal grabbing rate

    video:
        brightness: 4 # [DYNAMIC] Image brightness. Range: 0-8
        contrast: 4 # [DYNAMIC] Image contrast. Range: 0-8
        hue: 0 # [DYNAMIC] Image hue. Range: 0 to 11

    depth:
        min_depth: 0.3 # Min: 0.3, Max: 3.0
        max_depth: 10.0 # Max: 40.0

and this is my override config :

/**:
ros__parameters:

general:
  camera_model: zed2i
  grab_resolution: NATIVE           # الكاميرا تسحب native
  grab_frame_rate: 30                # full grab rate على Jetson
  pub_resolution: CUSTOM            # لتطبيق downscale على Laptop
  pub_downscale_factor: 4.0         # يقلل حجم الصور ×2
  pub_frame_rate: 30.0              # معدل publish على Laptop لتخفيف الحمل

video:
  brightness: 4
  contrast: 4
  hue: 0
  h264_udp_enable: false
  extrinsic_in_camera_frame: true

  # اقفل كل streams غير مهمة
  publish_raw_stereo: false
  publish_left_gray: false
  publish_right_gray: false
  publish_rgb: false
  publish_rgb_gray: false
  publish_right: false
  publish_right_gray: false
  publish_stereo: false
  publish_stereo_raw: false

depth:
  depth_mode: PERFORMANCE
  point_cloud_freq: 5.0            # Laptop: ~5 Hz، Jetson يشوف full rate
  publish_confidence: false

pos_tracking:
  pos_tracking_enabled: false
  imu_fusion: false
  area_memory: false
  area_memory_db_path: ""

image_transport:
  left_raw: compressed               # فيديو مضغوط لتخفيف الشبكة
  depth_registered: compressed
  point_cloud: draco                 # point cloud مضغوط

qos:
  image:
    reliability: BEST_EFFORT
    history: KEEP_LAST
    depth: 5

  depth:
    reliability: BEST_EFFORT
    history: KEEP_LAST
    depth: 5

  point_cloud:
    reliability: BEST_EFFORT
    history: KEEP_LAST
    depth: 5

  pose:
    reliability: RELIABLE
    history: KEEP_LAST

i think if closed all useless topics it should be fine? i just need the compressed image raw for streaming and compressed depth,points cloud

note iam using the jeston on MaxnSuper mode

4

Hi,

Thanks for sharing your settings.

Out of curiosity, what SDK version are you using ? Are you able to install the latest SDK version 5.2.3, if not done already to get the latest SDK improvements, performance optimization and overall stability.

Have you tried reducing the resolution and grabbing FPS on your side ?

Also, did you ensure that both platforms (Jetson + computer) have the same Cyclone DDS setup ?

Thanks

Stereolabs Support

5

Hello thanks for replying

The issue has been resolved it was an Ethernet Hardware issue now Camera raw topics shares on 60 fps on both machines and points cloud + depth data on 5 fps on both machines