ROS版本:ROS2 humble
Ubuntu版本:22.04
urdf文件代码:
<gazebo reference="camera_link">
<sensor name="camera" type="depth">
<always_on>true</always_on>
<update_rate>100</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>2</far>
</clip>
</camera>
<plugin name="depth_controller" filename="libgazebo_ros_camera.so">
<baseline>0.2</baseline>
<camera_name>camera</camera_name>
<frame_name>camera_link</frame_name>
<ros>
<namespace>camera_ns</namespace>
<remapping>camera/image_raw:=camera/image</remapping>
<remapping>camera/image_depth:=camera/image_depth</remapping>
<remapping>camera/camera_info:=camera/info_raw</remapping>
<remapping>camera/camera_info_depth:=camera/info_depth</remapping>
<remapping>camera/points:=camera/points</remapping>
</ros>
<min_depth>0.05</min_depth>
<max_depth>3.0</max_depth>
<hack_baseline>0</hack_baseline>
</plugin>
</sensor>
</gazebo>
<update_rate></update_rate>参数怎么改都没用,相机话题发布频率一直是个位数(一般在二点几左右,有时候稍微高一点),但其他参数都有效。
终端测试:
-virtual-machine:~$ ros2 topic hz /camera_ns/camera/points
average rate: 2.670
min: 0.086s max: 0.633s std dev: 0.23781s window: 5
average rate: 2.437
min: 0.077s max: 0.856s std dev: 0.27464s window: 8
average rate: 2.178
min: 0.077s max: 1.112s std dev: 0.31849s window: 11
average rate: 2.269
min: 0.077s max: 1.112s std dev: 0.30068s window: 14
average rate: 2.337
min: 0.077s max: 1.112s std dev: 0.27097s window: 18
average rate: 2.227
min: 0.077s max: 1.189s std dev: 0.31681s window: 20
average rate: 2.167
min: 0.076s max: 1.189s std dev: 0.34131s window: 22
average rate: 2.042
min: 0.076s max: 1.308s std dev: 0.37178s window: 25
average rate: 2.258
min: 0.076s max: 1.308s std dev: 0.35621s window: 30
average rate: 2.302
min: 0.067s max: 1.308s std dev: 0.35243s window: 33
求助