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Topics do not appear to be synchronized #977
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By default, nodes use a |
Hello @JWhitleyWork, Thanks a lot for your quick response. Do we need Time synchronizer since the ros2 camera plugin is publishing /image_raw and /camera_info msgs which are already synchronized? We are subscribing to camera01/camera_info and publishing camera01/camera_info_rect and similarly for camera02. This is our callback -
We also tried subscribing to /image_raw instead of /camera_info since we are using the header directly from subscription, but it gives the same issue. |
So I just scanned this issue - not digging super deep - but I'm going to to note it looks like you are using the "image_proc" node in ROS2 - which, basically has been horribly broken for a long time (I'm not sure it ever worked - it creates two instances of RectifyNode internally but doesn't set any names for them, so they have the same parameters). That node was actually removed in #925 - and that PR also makes the image_proc.launch.py actually work (in porting the documentation, I tested all of these things). Docs are now building here: https://docs.ros.org/en/rolling/p/image_proc/ - and there is a tutorial on using the launch file. I'm not sure which ROS2 distro you are using, some of the fixes haven't been ported all the way back |
We are trying to use a stereo camera setup to generate pointcloud. This is our desired flow -
We are using the image_proc node for rectification of images. We have created a custom publisher which subscribes to the /camera_info topic and publishes out the /camera_info_rect at the same publish rate (60) -
But it gives out this warning message in the terminal -
Eventually, the pointcloud stops publishing (after around 2-3 minutes of use)
We want to know If this is happening because of the above warning?
Note that I am using a 40GB RAM i9 along with a RTX 3060, so we don't think compute is a problem here.
Our launch file is -
Thanks!
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