low fps #358
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Can you show the cpu usage and terminal output of rtabmap launch file? |
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@matlabbe
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why? what is the problem to refresh every second? which parameters can I change? |
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@jungladicitta use the That said, I'm also using a D435 on a Jetson Nano, and am noticing that I get much lower FPS off my depth stream (10-15) while rendering in RViz than I have set incoming from RealSense (30 FPS). Also wondering if there are any best practices for optimizing memory/compute on small boards like Jetson. |
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The detection rate is set by default at 1 Hz ( I would suggest not running rviz on the jetson. And if you run rviz on remote computer, use an ethernet cable, and don't show raw point clouds from realsense. If you only show If rtabmap is publishing slower than 1 Hz with its processing time around 200 ms, the input topics may be poorly synchronized, causing some lags. If you have odom, scan, image topics, verify all their frame rate with |
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@matlabbe thanks a lot for so detailed answer. What do you mean by poorly synchronized? you mean the input topics should be publishing with the same rate, for example 100 Hz? I will try to set the same rate to the input topics, and then running rviz on remote computer. |
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@matlabbe about rviz on jetson, I was showing raw point cloud from camera in rviz with rtabmap running and rate of this raw point cloud from camera was ok. dont you think it does not matter where we run rviz? |
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@matlabbe What do you think? Are these topics poorly synchronized? |
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@matlabbe appreciate the detailed response, thank you. wrt resource consumption, I find that my CPU usage (all four cores) hovers around 90%, while GPU fluctuates pretty wildly and RAM/Swap is pretty underutilized. Is there an rtabmap setting that will use more of my RAM? Wondering if it'll get my CPU usage down a bit. wrt topic framerates, my image and depth framerates are synced at about 15-25 hz, but my odom/pose is coming in at around 200 hz. What's happening is as my pose changes, rtabmap projects the stale depth/image map into an incorrect/inaccurate place on the map (until the next depth map comes in). Is there an rtabmap parameter that could prevent this from happening? |
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@matlabbe |
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@nacorti When you say CPU usage at 90%, how much is form rtabmap? From this post above, rtabmap is about 20% of one core. Actually point_cloud_to_laser_scan node is 117% usage. As for odometry topic published at 200 Hz, you can increase the @jungladicitta Be careful when launching RVIZ on remote computer to not subscribe to point cloud or uncompressed image topics. Check your network bandwidth if it is stable. I would suggest to connect through ethernet to debug easily without wifi latencies and bandwidth limitations. |
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Wasn't able to deduce how much CPU usage was from Rtabmap vs RViz - I don't have an Ubuntu machine handy besides my Jetson to take your advice about running RViz separately over an ethernet cable. But, I completed a series of steps that (I think) increased my performance pretty significantly
Right now the big issue I have is running out of RAM once my map gets too large, but I think that's a limitation of the Nano more than anything. Going to try I'm also in the process of building OpenCV4 w GPU, then rebuilding RTabMap with OpenCV4 and seeing if that can boost framerate. I'll let you know how it goes. Comments/critiques always welcome, and of course thank you for your usual prompt and informative replies :) |
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@matlabbe every topics published by camera is uncompressed right? I mean |
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@nacorti For the RAM problem, it depends of what you want to keep in the database. If you don't care about keeping raw RGB/depth image, you can set @jungladicitta Yes, without suffix like "/compressed", they are the raw images. |
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I tried to connect everything to jetson via usb 3.0 hub, I mean camera, wheels and lidar, and now it looks ok in rviz. |
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I have tested rtabmap on my jetson tx2 with Intel Realsense d435 camera and got very low fps and freezes.
I tried to run rs_rgbd.launch separately and it works fine.
Here is rtabmap parameters: rtabmap.launch
What can I do to speedup rtabmap?
I also tried to run rtabmap with this parameters on different maichine which have Intel core i5-9400f processor on it, and anyway rtabmap worked slow with freezes.
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