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FPS drops with recorded rosbag on AGX Orin

Open sagardhatrak opened this issue 2 years ago • 1 comments

  1. rtabmap was run with wheel odometry and point cloud from depth image of TOF camera.
  2. We have measured the output FPS(using mapData) of rtabmap on AGX orin board(with actual moving robot) at detection rate 30. Output FPS was found around 4Hz.
  3. By recording Rosbag, we performed the same experiment. We observed that the output fps reduces to 2 Hz when we run rtabmap on the recorded rosbag with around same travel path. Why does the frame rate drop when we run rtabmap using rosbag data?

sagardhatrak avatar Jul 25 '23 12:07 sagardhatrak

On the terminal, you should see the processing time of rtabmap. If it is way below 500 ms and you still have 2 Hz, either Rtabmap/DetectionRate is set to 2 Hz or messages in bag are not published at 30 Hz or input messages of rtabmap node are poorly synchronized.

matlabbe avatar Jul 30 '23 23:07 matlabbe