Guoqing Zhang

> Hi @guoqingzh If you are launching in ros2_beta with **rs_launch.py**, do you get improved FPS if you launch with **ros2 run** > > `ros2 run realsense2_camera realsense2_camera_node` this is...

> What is the actual FPS that is being reported? > > Also, can you confirm whether the camera is being detected as being on a USB 3 connection. If...

> Thank you. And what is the FPS for color when launching with **ros2 run realsense2_camera realsense2_camera_node** it is the same

> As you are using **camera_name:='camera2' ** do you have more than one camera enabled at the same time? > > I note from the title of this case that...

@MartyG-RealSense the suggested parameters auto_exposure_priority false doesn't help. For depth, I set it to 30 FPS but only got ~13 FPS. But if I set depth_module.enable_auto_exposure to true , that...

@MartyG-RealSense we are doing performance testing. We want the FPS to be exactly the value we set with +/- 1 error maximum .

@MartyG-RealSense We have the following findings while testing: 1. if we subscribe to the RS topic from another docker container, it seems to have impact on FPS (make it reaching...

> Hi @guoqingzh. I also had issues with FPS using D455 camera and running depth and RGB streams. The issue is resolved if running in auto exposure mode. There is...

@matlabbe PR https://github.com/introlab/rtabmap/pull/1091 Use MultiNoncetralAbsolutePoseSacProblem , please review and provide feedback

> Have you enabled [robust graph optimization](https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization)? Yes, tried. All the other configurations kept the same, toggled with the following two lines: "RGBD/OptimizationMaxError 0" "Optimizer/Robust true" vs "RGBD/OptimizationMaxError 1" "Optimizer/Robust...