(ROS2 HUMBLE, JETSON XAVIER NX, DOCKER CONTAINER)
I have a RealSense camera running in a Docker container on my Jetson Xavier NX. The camera publishes RGB images, depth images, point clouds, and IMU data.
When I run the command ros2 topic hz in my docker container, I can see that the data is being published at approximately the exact rate specified in my parameters file.
However, when I try to visualize the images or point cloud on my computer using RViz, the frame rate drops drastically, almost to zero.
While I expected some reduction in rate due to the size of the data and the fact that it is being transmitted over Wi-Fi, I didn't anticipate such a severe drop.
How do people typically resolve this issue? is the compressed images the only way to go?
Thank you.