Point Cloud not getting published at 60Hz in ROS2 - Zed2i

Software ROS2
1

System Specifications(on which Zed2i is tested):

  • Ubuntu 22.04
  • CPU: Intel i7-11700KF @ 3.6GHz x 16
  • GPU: NVIDIA RTX A2000 12GB
  • CUDA 12.4
  • ZED SDK 4.1.2

While testing the zed-ros2 wrapper, we tried to publish the images. depth map and point cloud data at 60 Hz by changing the following parameters:

In common.yaml:

  • general.pub_frame_rate:60
  • depth.point_cloud_freq:60

In zed2i.yaml:

  • general.grab_frame_rate:60

The images are getting published at ~60 Hz but the point cloud is only published at ~35Hz (refer attached screenshot).

Screenshot from 2024-05-31 09-13-27
Screenshot from 2024-05-31 09-13-271920×1164 247 KB

In the ZED Depth Viewer, the rgb image, depth map and the point cloud seem like they are getting published at 60 Hz. Is this a zed-ros2 wrapper issue?

2

The point cloud messages store a huge amount of information.
Messages bringing a large amount of data are not well handled by the default ROS 2 middleware configuration.

I recommend using these guides to fine-tune your ROS 2 setup: