[Feature-Request] Low quality, low bandwidth pointcloud for wireless communication?

[royito55]

Start with the why:

I want to be able to transmit the /oak/points (depthai_ros_driver pointcloud.launch.py) topic over the internet, so I want to configure the parameters in order to have the lightest pointcloud message possible; currently, there are problems in wireless communication for pointcloud messages with the default parameters.

Move to the what:

Is there a guide on which parameters I should tune to achieve this?

[Serafadam]

Hi, unfortunately ROS2 is known to have problems with large messages, what you could do to solve that message:

• Check DDS Tuning information
• There is a new point_cloud_transport package which might help
• You could instead stream images and do the pointcloud computation on the desired device