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Hi all, I'm using openni and openni2 packages. They work fine but there's lot of topics out there! Is there a way to reduce the number of topics?


Originally posted by mark_vision on ROS Answers with karma: 275 on 2015-01-12

Post score: 2

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I haven't looked at openni(1)_launch in a while, but at least in openni2_launch, a lot of those topics should be:

  • internal, meaning they are needed for the internal processing (http://wiki.ros.org/rgbd_launch) pipeline (raw_image->...->pointcloud)

  • lazy, meaning they are only published if someone is subscribing to them, and not taking up cycles otherwise

Depending on what data you're interested in, you can force-disable certain components of the rgbd_launch pipeline here (https://github.com/ros-drivers/openni2_launch/blob/indigo-devel/launch/openni2.launch#L40).


Originally posted by paulbovbel with karma: 4518 on 2015-03-03

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by sealguy77 on 2015-03-04:
Good answers. openni_launch is much the same in regards to having the ability to force-disable certain components.

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