Hello,
I am currently trying to port all my sensor drivers from ROS1 to ROS2. While doing so, I was able to get the ROS2 versions running for my OAK POE however it seems the compression is considerably worse than with ROS1. The bandwidth I am seeing with ROS1 is in the order of 1.5Mb/s at a frame rate of around 47 fps but for ROS2 I am seeing around 9Mb/s at a frame frat eof around 30fps.
Am I somehow configuring my ROS2 settings in correctly? The following are my settings for ROS1 and ROS2 respectively.
ROS1
/front_oak:
camera_i_mx_id: 18443010E1DA100900
camera_i_pipeline_type: RGB
camera_i_enable_imu: false
camera_i_enable_ir: false
camera_i_resolution: '480'
rgb:
image_raw:
compressed:
format: jpeg
jpeg_optimize: true
jpeg_progressive: true
jpeg_quality: 10
jpeg_restart_interval: 0
png_level: 1
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 9
theora:
keyframe_frequency: 64
optimize_for: 1
quality: 31
target_bitrate: 800000
rgb_i_low_bandwidth: true
rgb_i_low_bandwidth_quality: 10
camera_i_nn_type: none
nn_i_nn_config_path: depthai_ros_driver/yolo
ROS2
/front_oak:
ros__parameters:
camera:
i_mx_id: 18443010B1B8FF0800
i_pipeline_type: RGB
i_enable_imu: false
i_enable_ir: false
i_resolution: '480'
i_nn_type: none
nn:
i_nn_config_path: depthai_ros_driver/yolo
rgb:
image_raw:
compressed:
format: jpeg
jpeg_optimize: true
jpeg_progressive: true
jpeg_quality: 10
jpeg_restart_interval: 0
png_level: 1
i_resolution: '1080'
i_low_bandwidth: true
i_low_bandwidth_quality: 10