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ROS nodes are a publisher/subscriber system - the publishing nodes (should) operate normally no matter how many subscribers are consuming the data downstream. Are you pushing the limits of your hardware's processing limits?
| | 2 | No.2 Revision |
ROS nodes are a publisher/subscriber system - the publishing nodes (should) operate normally no matter how many subscribers are consuming the data downstream. Are you pushing the limits of your hardware's processing limits?capability?
Check top output to see the CPU load. An easy way to reduce processing load with Kinect or other RGBD cameras is to reduce the resolution using dynamic_reconfigure.
| | 3 | No.3 Revision |
ROS nodes are a publisher/subscriber system - the publishing nodes (should) operate normally no matter how many subscribers are consuming the data downstream. Are you pushing the limits of your hardware's processing capability?
Check top output to see the CPU load. An easy way to reduce processing load with Kinect or other RGBD cameras is to reduce the resolution using dynamic_reconfigure.
How are you using the Kinect output in navigation? Instead of using the pointcloud as a datasource, try feeding it through pointcloud_to_laserscan or use the depth image via depthimage_to_laserscan, both options will reduce the CPU load significantly.
Please add launch files and debug output to your question.
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