Positional tracking publish rate ROS2

Software ROS2
1

I use jp6.2 with jetson orin nx at 40w power mode and zed mini.
I run the wrapper with
depth performance mode
720HD@ 30
point cloud publish rate 10
GEN 2

At the begining the publish rate is 30hz but quickly drops to 16hz.
What might be the priblem?

2

Hi Ori,

Thanks for your message.

In regards to the ROS2 Wrapper performances, have you tried the following ?

Stereolabs Support

3

Yes, still not great improvement.
I use neural_light mode.
is that possible to change the wrapper to publish for example only positional tracking data + compressed images?

4

To assist you better, we need additional information regarding your device’s condition and system setup.
Please open a terminal console (Ctrl+Alt+t) and run these commands:

  • sudo ZED_Diagnostic --dmesg
  • ZED_Diagnostic -c
    After executing the commands, kindly send me the files dmesg.log and ZED_Diagnostic_Results.json located in the folder where the commands were run.

The wrapper only publishes to a topic when the topic is subscribed.

Stereolabs Support

5

dmesg.log (6.6 KB)
ZED_Diagnostic_Results.json (9.9 KB)

6

Hi Ori,

Sorry for the late answer. Based on your setup and use of the wrapper, you shouldn’t see this behavior normally.
A few reasons could explain this behavior : a high temperature or issue with the power of the board. Is the camera connected directly to a USB 3.0 port on your end ?

Can you also provide your ROS2 configuration files ?

Thanks,

Rodolphe

Stereolabs Support