ACE cameras PTP synchronization (acA_1920-40gc) about pylon-ros-camera

[jordigc2]

NEW UPDATE

By using the latest version of the Humble branch we realized that some parameters from the config file were not being applied. The issue was appearing because the Inter_pkg_delay parameter was not being updated and it was kept to a default value of 1000. By forcing the modification through the ros2 launch script it worked with no issues.

Now we are able to have images at stable 20Hz using a 704Mb/s of bandwidth.

[jordigc2]

UPDATES of further tests

From the previous message I sent until today I managed to synchronize the 2 cameras using the Pylon Viewer at 20Hz. However, the goal is to achieve such configuration using the Pylon ROS wrapper with the 2 cameras.

I have been trying to have the same procedure that I managed to make work with the Pylon Viewer, but over the Pylon ROS2 Humble package that Basler provides.
What I am launching is what you can see in the attached file which basically launches the ROS2 node, then stops grabbing the 2 cameras, sets the PTP and Free run to True and then it starts grabbing frames again.
After this, I get all the good status ROS2 services responses meaning that it was all set successfully. When I check the FPS of each camera it seems to be stable at 20FPS as specified.

However, when I open rviz2 to visualize or record the ros2 topics into a rosbag I get the following error.

I have set the MTU of the ETH0 interface to have a MTU 9000, and when I check I can see it is set to 8966, which should be fine. And then I have also set the MTU size into the configuration of each camera and also the inter_pkg_delay of each camera to 100000.

I've also noticed that the traffic on the network interface is incoming 700 Mbit/s in the case of using Pylon Viewer, while a number between 400 and 500 while using the ROS driver. We are using the following 8 ports Switch https://www.downloads.netgear.com/files/GDC/GS108Tv3/GS108Tv3_GS110TPv3_DS.pdf

Thus it makes me think that for some reason the driver is not correctly using the network capabilities. The setup between the ROS driver and Pylon viewer in terms of transport layer should be extremely similar.

Do you have any suggestions on the direction to go?

launch.txt

Also, something that I tested was to reduce the ROI of the image that is being processed through the Pylon Driver and then we could see that there was no issue over the network and the images were being synchronized as the bandwidth used was smaller. However, this cameras are already with a reduced FoV as they are of 16mm focal length and I would not like to cut the image to even reduce more the FoV. Is there a way to reduce the resolution of the images instead of cutting the ROI before publishing them over the network?

Thank you very much for your support.