0
$\begingroup$

I am trying to stream the images from my camera to a VM via ROS. Here is my setup:

  • Raspberry Pi 3B+ with Picamera v2. It is running ROS Noetic with cv_camera_node
  • An Ubuntu 20.04.1 VM with ROS Noetic. I am reviewing the live stream using rosrun rqt_image_view rqt_image_view

When I tried this, the stream is really laggy and slow. I am barely getting 10 fps. I was able to do camera calibration with it but mapping with it will be really challenging. Is there any way to speed it up. Can I decrease the quality of the camera capture? Any help is truly appreciated.

Here is my launch file:

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="uyvy" />
    <param name="camera_frame_id" value="camera" />
    <param name="io_method" value="mmap"/>
    <param name="framerate" value="30" />
    <param name="autofocus" value="true" />
    <param name="camera_name" value="camera" />
    
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/camera/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>
```
$\endgroup$
0
$\begingroup$

What camera are you using? It might be helpful to know since the driver might be at fault here.
Also, any particular reason you are working with the cv_camera_node? usb_cam has worked much better for me in the past. It works with libusb rather than opencv which could also be a culprit here. In the end, you just get a sensor_msgs::Image with both packages. So it'd be worth a shot. You can also set a bunch of different parameters in the launch file itself. Maybe play around with those? Specifically the framerate and image width/height.

$\endgroup$
13
  • $\begingroup$ I am using the following camera: th.bing.com/th/id/… $\endgroup$ – DragonflyRobotics Feb 12 at 16:03
  • $\begingroup$ I can try that! $\endgroup$ – DragonflyRobotics Feb 12 at 16:04
  • $\begingroup$ I tried the usb_cam package but it is still the same. $\endgroup$ – DragonflyRobotics Feb 12 at 22:45
  • $\begingroup$ What's your image size/resolution? $\endgroup$ – Akhil Kurup Feb 12 at 23:14
  • $\begingroup$ My camera is 2K(16:9) at 30fps. I set it to 640x480 at 30fps. The pixel format is yuyv. I will attach the entire launch file above. $\endgroup$ – DragonflyRobotics Feb 13 at 0:09
0
$\begingroup$

If you are using the Raspberry Pi camera and not a USB camera, it is better to use this node: https://github.com/UbiquityRobotics/raspicam_node. This gave me really good speed.

$\endgroup$
0
$\begingroup$

The problem is that you are using VMWare. For some reason, when I used a physical machine with ROS and Ubuntu, it worked! Maybe there is a fix in VMWare. If anybody knows the solution, they are free to explain.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.