ZED ROS2 wrapper: restarting one camera changes FPS of all cameras on Jetson

[vietlh]

Hi,

I have problem when using zed_ros2_wrapper with 3 zed x mini camera.

Environment:

• Jetson Orin AGX

• ZED link duo with 1.4.1 driver

• ROS2

• zed-ros2-wrapper run in docker with zedsdk 5.2.3

• Multiple ZED cameras

• Each camera runs with a separate ros2 launch command in separate ros2 container with separate config file

• Each camera uses its own ROS2 launch process

Issue:

When I restart one camera with a lower FPS configuration, the FPS of the other running cameras also decreases automatically.

Example:

• Camera A: 30 FPS

• Camera B: 30 FPS

• Camera C: 30 FPS

If I restart Camera C with 15 FPS:

• Camera A also drops close to 15 FPS

• Camera B also drops close to 15 FPS

Questions:

1. Does the ZED SDK synchronize FPS globally across cameras on Jetson?

2. Could this be related to USB bandwidth renegotiation or shared GPU/CUDA resources?

3. Is there a recommended way to isolate FPS/resource scheduling between multiple ZED cameras?

4. Are there known limitations for multi-camera setups with separate configs on Jetson platforms?

Thank you so much

[Myzhar]

Hi @vietlh
In a multicamera setup, the cameras of the same block share the same frame rate.
Read more here:

Multi-camera configurations - ZED Link Duo on AGX Orin - Stereolabs

If you want to run a node with a different rate, you can:

• set the same value of the parameter general.grab_frame_rate in all the node
• set a specific value of general.grab_compute_capping_fps for each single node that must have a frame rate lower than the grab rate

You can also dynamically change the publishing rate of the topics.

I recommend you read this section of the documentation for all the details:

Node Frequency Tuning - Stereolabs