'zed2i/zed_node/point_cloud/cloud_registered' topic frequency

[wjd123ap]

Preliminary Checks

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• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I changed both pub rate,grab rate and point cloud frequency in common.yaml and zed2i.yaml. 'zed2i/zed_node/point_cloud/cloud_registered' topic frequency remains unchanged and is published fixed at 15Hz. The image is published at frequency I set.

Steps to Reproduce

1.roslauch zed_wrapper zed2i.launch
2. rostopic hz 'zed2i/zed_node/point_cloud/cloud_registered'
3.
...

Expected Result

Please solve the topic frequency problem of the point cloud

Actual Result

subscribed to [/zed2i/zed_node/point_cloud/cloud_registered]
average rate: 15.438
min: 0.062s max: 0.066s std dev: 0.00194s window: 4
average rate: 15.125
min: 0.062s max: 0.067s std dev: 0.00114s window: 19
average rate: 15.074
min: 0.062s max: 0.070s std dev: 0.00124s window: 34
average rate: 15.059
min: 0.062s max: 0.070s std dev: 0.00115s window: 50
average rate: 15.052
min: 0.062s max: 0.070s std dev: 0.00112s window: 55

ZED Camera model

ZED2i

Environment

OS: jetpack5.1.1
CPU:ARM
GPU:jetson orin nx 16G
sdk:4.0
other:ros noetic

Anything else?

No response

[Myzhar]

Hi @wjd123ap
please post the values that you set for each parameter.

[github-actions]

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[Song-Jingyu]

Hi, I have exactly the same issue. I set 30 for all the frame rate parameters and I tried different depth quality but all get 15Hz for the point cloud topic.

[Alessio-Parmeggiani]

I have the same issue, changing the point_cloud_freq parameter in the common.yaml file does not change the publish rate for the pointcloud topic.