Comments (5)
Hello,
you are right, we plan to do it configurable. It is a trade off between CPU performance and publishing speed which is really depending on the computer you are using. Therefore it is tricky to change it in embedded / low performance systems.
I see two possibilities to address this issue:
- Create a service to set it (preferred)
- Set as ROS parameter (through our drag&bot module yaml https://github.com/basler/pylon-ros-camera/blob/master/pylon_camera/module_config/module.yaml)
Please if you want to collaborate you are very welcome! I think it is important to have this service for setting the timeouts, what do you think?
Thanks!
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Hi @pablo-quilez thanks for reaching out :-)
I brainstormed with colleagues and we believe that a normal node-level ROS param, appearing also in this YAML configuration file, is the preferred solution.
Otherwise, we believe a service will be the second best option.
from pylon-ros-camera.
You are welcome @claudiofantacci ! It is a pleasure. I am planning to address all of these FPS related topics starting on the next week but maybe you can help me to define exactly which next steps should we do. I suggest:
- Make timeouts configurable (TBD: param / services)
- Allow both self triggering / software triggering in the camera
- Increase the performance of building ROS blob from camera picture in memory. The way the driver currently extracts the picture from the memory and converts to ROS may not be so optimal.
Do you think this will be enough? Am I missing something?
from pylon-ros-camera.
Hey @pablo-quilez I think these 3 points are well taken.
- This is important as we discussed previously
- This is probably the most important. We cannot achieve good framerate and stability with self-triggering and we opted for software triggering. This point, together with 1. will make a huge improvement in the driver 🚀
- Not sure about this atm. But if there can be improvements on the memory side I think it is worth spending some effort, especially for hi-res streams.
I'll brainstorm with other people next week and be back to you with some other comments if any 😄 Thanks again!
from pylon-ros-camera.
Hi!
We have added the grabbing and timeout parameters both as parameters and as services. After internal tests we have merged into the main devel branch. Hopefully we can see this issue as closed!
@claudiofantacci please let me know if we are missing something. I can reopen the issue if necessary. Thanks!
from pylon-ros-camera.
Related Issues (20)
- ROS2 Ubuntu20 Basler Camera Paramaters
- Compressed image in ROS2 HOT 1
- Use the ROS2 parameter API instead of service calls HOT 1
- not able to run acA5472-17uc camera. Topics are not going beyond 6Hz HOT 5
- Frame Transmission Delay HOT 4
- Chunk Mode Timestamp HOT 6
- Make Blaze camera dependency optional HOT 6
- [Humble] build error: no member named OutlierRemovalTolerance HOT 1
- Blaze Camera not being found by ROS2 node HOT 11
- can't found pylon_camera pylon_camera_node HOT 4
- [Humble] Boost COMPONENTS libraries getting replaced by pylon_ros2_camera_component HOT 3
- No "running" status message when using specific device user id HOT 2
- Driver installation problem HOT 5
- AutofuntionROI Offset OutOfRangeException HOT 4
- Frame rate not adjusting with new ROI HOT 2
- multiple USB cameras retrieveresult delay HOT 1
- Question about function PylonInitialize HOT 5
- pylon_camera fps not reaching set frame_rate HOT 8
- Camera Config help for short range imaging HOT 2
- Connection multiple cameras ROS2 and publish images HOT 2
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