Astra Pro RGB & Depth publishing rate not quite same. [Closed]

Question

Hello all, I want to use Orbbec Astra Pro in ROS Indigo inside Ubuntu 14.04. I have installed the ROS compatible OPenNI2 and now able to run the launch code. The Astra Pro Camera starts perfectly without any issue.

Now the problem is when i check the publishing rate of RGB and Depth stream I see that they are not quite same.

Here are the outputs..

What can I do to get 30hz publish rate for both RGB and Depth

Cheers,

Prasanna

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Originally posted by PKumars on ROS Answers with karma: 92 on 2018-03-13

Post score: 0

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Original comments

Comment by gvdhoorn on 2018-03-13:
Please check our support guidelines, specifically the Do Not section, which states:

DO NOT post a screenshot of the terminal or source file.

Comment by PKumars on 2018-03-13:
OK Sir, it was a mistake. It won't be repeated. But I'm closing this issue as I have found the bug.

Comment by gvdhoorn on 2018-03-13:
Just keep it in mind for your next question.

But I'm closing this issue as I have found the bug.

It would be nice if you could post what you found as an answer and then accept your own answer.

Answer 1

Sorry for the silly question. I solved the issue.

Here is a solution to my problem regarding the publish rate of RGB image.

previously it was . and thats way I was getting 15Hz rate, but now it's 30Hz as I have changed it.

before --------- param name="frame_rate" value="15"

after --------- param name="frame_rate" value="30"

This is for the libuvc_ros driver that I'm using for Astra Pro with astra_pro.launch file.

using the following command

$ roslaunch astra_launch astra_pro.launch

<node pkg="libuvc_camera" type="camera_node" name="astra_pro_uvc">
    <!-- Parameters used to find the camera -->
    <param name="vendor" value="0x2bc5"/>
    <param name="product" value="0x0501"/>
    <param name="serial" value=""/>
    <!-- If the above parameters aren't unique, choose the first match: -->
    <param name="index" value="0"/>

    <!-- Image size and type -->
    <param name="width" value="640"/>
    <param name="height" value="480"/>
    <!-- choose whichever uncompressed format the camera supports: -->
    <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/jpeg -->
    <param name="frame_rate" value="30"/>
    <param name="frame_id" value="$(arg camera)_rgb_optical_frame"/>

    <param name="timestamp_method" value="start"/> <!-- start of frame -->
    
    
    <!-- Change has to be done here to add the camera calibration file-->
    
    <!-- <param name="camera_info_url" value="file:///tmp/cam.yaml"/> -->




    <param name="auto_exposure" value="3"/> <!-- use aperture_priority auto exposure -->
    <param name="auto_white_balance" value="false"/>
  </node>

</group> <!-- rgb -->

Thanks,

Prasanna

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Originally posted by PKumars with karma: 92 on 2018-03-13

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by gvdhoorn on 2018-03-13:\

previously it was .

it was what?