Slow frame rate Zed2i with Blackwell GPU on Thinkpad

Software ROS2
1

I am using a Zed2i with a new Thinkpad P16V Gen3 (Intel 285H) with Blackwell 2000 GPU. I run the zed ros wrapper node and I am getting a frame rate of the image_rect_color of 1.5 FPS (also, a low FPS for the depth_registered topic). I am using HD720 and have optimized the neural networks. I am requesting a frame rate of 10FPS. I am using ‘ros topic hz’ to monitor the FPS. I am using Ubuntu 24.04. I have tried SDK 5.1 and 5.07 with similar results. My CPU utilization is 9% and my GPU utilization is about 23%.

Does anyone have similar experience?

2

I made some changes following the ROS2 tuning guide in the SDK documentation and that seems to have fixed it.