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How to speedup the gazebo ros openni kinect plugin rate

Hello,

I'm simulating a differential drive robot with a Kinect using the gazebo ros openni kinect plugin. The publishing rate I get (with rostopic hz) for the Kinect point cloud is only at around 22 Hz. This is even after slowing down the physics update rate to 100 Hz, Real Time Factor at 0.5.

When I slow down the physics update rate further down, e. g. 50 Hz I get the desired 30 Hz. But I think this might lead to some other problems, as it seems rather low.

Is the plugin in general slow and is there a way / parameter to speed it up?

I'm working on a Intel i5 760 @ 2.8 Ghz with a nvidia GTX 650 Ti, not the most powerfull rig but should be okish?

Plugin settings:

<gazebo reference="${link_name}"> <sensor type="depth" name="${camera_name}">
<always_on>1</always_on>
<update_rate>30.0</update_rate>
<visualize>true</visualize>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<depth_camera>

</depth_camera>
<clip>
<near>0.1</near>
<far>4</far>
</clip>
</camera>
<plugin name="${camera_name}_controller" filename="libgazebo_ros_openni_kinect.so"> <alwaysOn>true</alwaysOn> <updateRate>30.0</updateRate> <cameraName>${robot_topic_prefix}/${camera_name}</cameraName> <frameName>${frame_name}</frameName>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth_capture/image_raw</depthImageTopicName>
<pointCloudTopicName>depth_capture/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth_capture/camera_info</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.4</pointCloudCutoff>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0.0</focalLength>
</plugin>
</sensor>
</gazebo>


How to speedup the gazebo ros openni kinect plugin rate

Hello,

I'm simulating a differential drive robot with a Kinect using the gazebo ros openni kinect plugin. The publishing rate I get (with rostopic hz) for the Kinect point cloud is only at around 22 Hz. This is even after slowing down the physics update rate to 100 Hz, Real Time Factor at 0.5.Hz.

When I slow down the physics update rate further down, e. g. 50 Hz I get the desired 30 Hz. But I think this might lead to some other problems, as it seems rather low.

Is the plugin in general slow and is there a way / parameter to speed it up?

I'm working on a Intel i5 760 @ 2.8 Ghz with a nvidia GTX 650 Ti, not the most powerfull rig but should be okish?

Plugin settings:

<gazebo reference="${link_name}"> <sensor type="depth" name="${camera_name}">
<always_on>1</always_on>
<update_rate>30.0</update_rate>
<visualize>true</visualize>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<depth_camera>

</depth_camera>
<clip>
<near>0.1</near>
<far>4</far>
</clip>
</camera>
<plugin name="${camera_name}_controller" filename="libgazebo_ros_openni_kinect.so"> <alwaysOn>true</alwaysOn> <updateRate>30.0</updateRate> <cameraName>${robot_topic_prefix}/${camera_name}</cameraName> <frameName>${frame_name}</frameName>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth_capture/image_raw</depthImageTopicName>
<pointCloudTopicName>depth_capture/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth_capture/camera_info</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.4</pointCloudCutoff>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0.0</focalLength>
</plugin>
</sensor>
</gazebo>