Lennart Nachtigall

I checked the FPS in two different ways: 1. ros2 topic hz -> uncompressed tpic 2. I have a node which writes video streams to files -> The resulting framerate...

@flynneva I just ran some tests. 1. 1280 x 720 : 25% cpu load per node, 30fps (ros2 topic hz) -> ros2 topic hz subscriptions increased cpu load by 10%...

@flynneva I guess working on 1. makes the most sense. I also ran a callgrind analysis and also came to the conclusion that `av_send_packet` is where most of the time...

Thanks for the info.

I will test this hopefully today. As an idea for an integration test (I didnt take a look at the current tests): You only need to generate a test stream...

@flynneva Just tested #290 Unfortunately it seems to make it worse. I only achieve 14fps on the raw image topic with this patch. On the compressed topic `ros2 topic hz`...

Hey @flynneva did you manage to reproduce this issue by now? (E.g. by providing the test image stream?)

Hey @flynneva I have another update for you: I realized that even with 720p (1280 x 720) the frame rate drops the more cameras I add. E.g. at 7 cameras...

If I am right the repositories (ethercat sdk master etc. ) should have no other ROS dependencies than using catkin as a build system. I think it is possible to...

@christophfroehlich I will update this PR as soon as #139 is finished