Pointcloud is published at 2Hz when using two 3D cameras gazebo_ros_depth_camera

asked 2019-01-13 13:14:41 -0600

zoid gravatar image

updated 2019-01-15 11:45:28 -0600

Carlos Agüero gravatar image

Hello,

I have a Gazebo simulation using ROS and in my mobile robot I am using two 3D cameras described by a gazebo_ros_depth_camera plugin (https://github.com/ros-simulation/gaz...). I have setup the plugin as follows:

<plugin name="camera3D_controller" filename="libgazebo_ros_depth_camera.so">
            <robotNamespace>/</robotNamespace>
                <alwaysOn>true</alwaysOn>
            <!-- Keep this zero, update_rate will control the frame rate -->
            <updateRate>200.0</updateRate>
            <cameraName>camera3D_1</cameraName>
             <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <!-- neither camera info is getting published, frame_id is empty
                in points and both image headers -->
             <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <pointCloudTopicName>points</pointCloudTopicName>
            <frameName>camera3D_1_link</frameName>
            <!-- TODO(lucasw) is this used by depth camera at all? -->
             <hackBaseline>0.07</hackBaseline>
            <pointCloudCutoff>0.001</pointCloudCutoff>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
  </plugin>

Although I have the cameras setup at 200 Hz update frame rate, the publishing pointcloud rate (e.g. rostopic hz /camera3D_2/points) is between 4 to 7 Hz. Also, when I launch rviz, the publishing rate drops to 2 Hz. Do you think this is relative to some short of Gazebo physics update frequency setup, or maybe is relevant to my computer hardware resources? Any Ideas?

Thank you!

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