Show low frequency when recording rosbag or echoing /ouster/points topic & Artifact of ROS driver #322
Description
1. Show low frequency when recording rosbag or echoing /ouster/points topic with ROS2 galactic driver
When I launch ouster driver with ros2 launch ouster_ros driver.launch.py, lidar pointcloud showing with rviz2 shows a sufficiently high frequency (probably 20hz) [Fig 1].
However, if I record or echo /ouster/points topic, lidar frequency is significantly slower. [Fig 2]
When I stopped record or echo, the original frequency is restored.
Surprisingly, ROS noetic driver doesn't have this problem at all. Both record and echo work well at 20hz.
During this process, I checked the data transfer amount with iftop, but there was no change. (Constant at about 60Mb)
Changing resolution of the pointcloud also doesn't work: even the lowest 512x10 doesn't solve the issue.
What's the solution for ROS2 galactic?
2. Show Artifact when running ROS driver
When I launch ouster driver, lidar pointcloud in rviz show line artifact [Fig 3]. This issue shows either ROS and ROS2 driver.
(Examples of ROS noetic)
(Example of ROS2 galactic)
But, this artifact doesn't show in OusterStudio [Fig 4].
Platform (please complete the following information):
- Ouster Sensor? OS-1-32-U
- Ouster Firmware Version? 2.5
- ROS version/distro? ros2 galactic, ros noetic
- Operating System? Linux ubuntu 20.04 focal
- Machine Architecture? amd64
- git commit hash (if not the latest).