Re: Mapping performance funing in rtabmapviz

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-funing-in-rtabmapviz-tp3061p3152.html

Hi,

There are no nodelets in rtabmap launch file you posted above (when rviz argument is false). I guess "nodelet" refer to iai_kinect2. I think iai_kinect 2 doesn't start the streams if nobody is subscribed to its topics, so maybe why there is no CPU usage when not launching rtabmap. You may try again [kinect2_bridge + robot navigation stack]  test with subscribing to rgb and registered depth images:

$ rostopic hz /kinect2/qhd/image_color_rect
$ rostopic hz /kinect2/qhd/image_depth_rect

then look again the cpu usage.

Note that the depth and rgb streams should have a steady frame rate, otherwise you will notice lags. Indeed, using GPU version of iai_kinect2 may help to save some CPU. To make it work on Jetson, you may look at the link referred here : http://official-rtab-map-forum.206.s1.nabble.com/Remote-mapping-Kinect2-tp2980p2986.html

cheers,
Mathieu