OAK-D POE is experiencing lag

jenanaputra

I am running the OAK-D POE in the ROS2 environment. My OAK-D camera is directly connected to a Raspberry Pi. However, when I tried to access the camera from my laptop, which is on the same network as the Raspberry Pi, I encountered an issue. Upon launching the 'ros2 launch depthai_examples stereo_inertial_node.launch.py' command, the '/color/camera' topic appears in RVIZ. The problem is that it is experiencing lag. I have already made some changes to the parameters in the camera.yaml file, such as setting 'rgb.i_low_bandwidth' to true and 'i_fps' to 60.0. Despite these adjustments, the lag persists. Additionally, when I ran 'ros2 topic hz /color/image', I observed a maximum rate of 1.848 Hz, which does not match the fps I set. Does anyone know how to resolve this issue

erik

Hi jenanaputra ,
Have you already checked the latency docs?
https://docs.luxonis.com/projects/api/en/latest/tutorials/low-latency/