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

asked 2019-01-13 13:14:41 -0500

zoid gravatar image

updated 2019-01-15 11:45:28 -0500

Carlos Agüero gravatar image


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">
            <!-- Keep this zero, update_rate will control the frame rate -->
            <!-- neither camera info is getting published, frame_id is empty
                in points and both image headers -->
            <!-- TODO(lucasw) is this used by depth camera at all? -->

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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