[jsk_pr2_startup] Set png_level of compressedDepth #1932
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could you also check the bandwidth rostopic bw
--
◉ Kei Okada
2025年1月24日(金) 18:56 Naoaki Kanazawa ***@***.***>:
… Currently, if we want to use the depth topic of pr2's kinect camera image
outside of pr2, the Hz is low due to the compressedDepth png_level
problem.
#1493 <#1493>
Referring to #1493 <#1493>,
set the png_level and avoid unnecessary topics.
Before
$ rostopic hz /kinect_head/depth_registered/image_rect/compressedDepth
[/kinect_head/depth_registered/image_rect/compressedDepth]
no new messages
average rate: 3.728
min: 0.266s max: 0.271s std dev: 0.00213s window: 4
$ for f in $(rosparam list | grep png_level); do echo "$f: $(rosparam get $f)"; done
/kinect_head/depth/image/compressed/png_level: 9
/kinect_head/depth/image/compressedDepth/png_level: 9
/kinect_head/depth/image_raw/compressed/png_level: 9
/kinect_head/depth/image_raw/compressedDepth/png_level: 9
/kinect_head/depth/image_rect/compressed/png_level: 9
/kinect_head/depth/image_rect/compressedDepth/png_level: 9
/kinect_head/depth/image_rect_raw/compressed/png_level: 9
/kinect_head/depth/image_rect_raw/compressedDepth/png_level: 9
/kinect_head/depth_registered/hw_registered/image_rect/compressed/png_level: 9
/kinect_head/depth_registered/hw_registered/image_rect/compressedDepth/png_level: 9
/kinect_head/depth_registered/hw_registered/image_rect_raw/compressed/png_level: 9
/kinect_head/depth_registered/hw_registered/image_rect_raw/compressedDepth/png_level: 9
/kinect_head/depth_registered/image/compressed/png_level: 9
/kinect_head/depth_registered/image/compressedDepth/png_level: 9
/kinect_head/depth_registered/image_raw/compressed/png_level: 9
/kinect_head/depth_registered/image_raw/compressedDepth/png_level: 9
After
$ rostopic hz /kinect_head/depth_registered/image_rect/compressedDepth
subscribed to [/kinect_head/depth_registered/image_rect/compressedDepth]
average rate: 31.463
min: 0.021s max: 0.040s std dev: 0.00569s window: 9
$ for f in $(rosparam list | grep png_level); do echo "$f: $(rosparam get $f)"; done /kinect_head/depth/image/compressedDepth/png_level: 5
/kinect_head/depth/image_raw/compressedDepth/png_level: 5
/kinect_head/depth/image_rect/compressedDepth/png_level: 5
/kinect_head/depth/image_rect_raw/compressedDepth/png_level: 5
/kinect_head/depth_registered/hw_registered/image_rect/compressedDepth/png_level: 5
/kinect_head/depth_registered/hw_registered/image_rect_raw/compressedDepth/png_level: 5
/kinect_head/depth_registered/image/compressedDepth/png_level: 5
/kinect_head/depth_registered/image_raw/compressedDepth/png_level: 5
------------------------------
You can view, comment on, or merge this pull request online at:
#1932
Commit Summary
- 4207d74
<4207d74>
[jsk_pr2_startup] Add pr2_png_level.yaml to set image compressedDepth
png_level
File Changes
(2 files <https://github.com/jsk-ros-pkg/jsk_robot/pull/1932/files>)
- *A* jsk_pr2_robot/jsk_pr2_startup/config/pr2_png_level.yaml
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1932/files#diff-e4cc303d97eabfe7466d3452acbc2442066f04ef5ce4311a73f6fb9f6dff0097>
(59)
- *M* jsk_pr2_robot/jsk_pr2_startup/pr2.launch
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1932/files#diff-b271a2141d4bf8d499db53c6dcdac9d6e322c01fe4b7f7e66d383ffc4947c1bf>
(2)
Patch Links:
- https://github.com/jsk-ros-pkg/jsk_robot/pull/1932.patch
- https://github.com/jsk-ros-pkg/jsk_robot/pull/1932.diff
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@k-okada Before (png_level 9)$ rostopic bw /kinect_head/depth_registered/image_rect/compressedDepth
subscribed to [/kinect_head/depth_registered/image_rect/compressedDepth]
average: 269.08KB/s
mean: 68.28KB min: 67.98KB max: 68.57KB window: 4
average: 272.44KB/s
mean: 68.66KB min: 67.98KB max: 70.01KB window: 8After (png_level 5)$ rostopic bw /kinect_head/depth_registered/image_rect/compressedDepth
subscribed to [/kinect_head/depth_registered/image_rect/compressedDepth]
average: 2.77MB/s
mean: 0.08MB min: 0.08MB max: 0.08MB window: 9 |
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Currently, if we want to use the depth topic of pr2's kinect camera image outside of pr2, the Hz is low due to the compressedDepth
png_levelproblem.Referring to #1493, set the
png_leveland avoid unnecessary topics.Before
After