Low frame rate when using ros2 and zed2i camera

Software ROS2
1

Hi,

I have a zed2i camera connected to a host computer. I launch the camera using the ros2 launch and then do ros topic hz /zed_node/zed-camera/left/image_rect_color and I get

average rate: 1.189
	min: 0.066s max: 4.850s std dev: 1.63985s window: 7
average rate: 0.873
	min: 0.066s max: 4.850s std dev: 1.77963s window: 9
average rate: 0.967
	min: 0.066s max: 4.850s std dev: 1.63903s window: 11
average rate: 0.635
	min: 0.066s max: 7.527s std dev: 2.38383s window: 12

Sometimes it goes to about 10Hz but rarely does it hit 30fps. I am running at HD1080@30fps. I tried a lower resolution and a lower fps too and the performance seems to be more or less the same. I open the same camera inside ZED_Explorer with the same settings and I see 30fps being hit consistently. Any suggestions on what could be happening?

This is my config override file

/**:
    ros__parameters:
        general:
            grab_resolution: 'HD1080'
            pub_frame_rate: 30.0
            grab_frame_rate: 30
            pub_resolution: 'NATIVE'


        depth:
            depth_mode: "NONE"
            depth_stabilization: 0
            min_depth: 0.2
            max_depth: 2.0
            point_cloud_res: 'FULL'
            point_cloud_freq: 15.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `pub_frame_rate` value)


        pos_tracking:
            pos_tracking_enabled: false
            publish_tf: false
2

Hi @abhishekpavani,

This is not the expected performance of the ZED ROS2 wrapper.

To maximize performance while using the wrapper, please follow the DDS tuning guide here: DDS Middleware and Network tuning - Stereolabs