Description
I changed both grab rate and point cloud frequency, pub rate in common.yaml and zed2i.yaml. ‘zed2i/zed_node/point_cloud/cloud_registered’ topic frequency remains unchanged and is published fixed at 15Hz. The image is published at frequency I set.
Steps to Reproduce
1.roslauch zed_wrapper zed2i.launch
2. rostopic hz ‘zed2i/zed_node/point_cloud/cloud_registered’
3.
…
Expected Result
Please solve the topic frequency problem of the point cloud
Actual Result
subscribed to [/zed2i/zed_node/point_cloud/cloud_registered]
average rate: 15.438
min: 0.062s max: 0.066s std dev: 0.00194s window: 4
average rate: 15.125
min: 0.062s max: 0.067s std dev: 0.00114s window: 19
average rate: 15.074
min: 0.062s max: 0.070s std dev: 0.00124s window: 34
average rate: 15.059
min: 0.062s max: 0.070s std dev: 0.00115s window: 50
average rate: 15.052
min: 0.062s max: 0.070s std dev: 0.00112s window: 55
ZED Camera model
ZED2i
Environment
OS: jetpack5.1.1 CPU:ARM GPU:jetson orin nx 16G sdk:4.0 other:ros noetic