NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
Low frame rate
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- Dominant language
- C++
- Stars
- 1.5k
- Forks
- 206
- PR merge metrics
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Description
I am facing a strange issue when most of the time the node outputs 3-4 FPS while a realsense outputting image and other topics at ~90FPS.
I am running the stock ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py.
The strange thing is, sometimes it just runs smoothly on ~90fps.
Its running on 2060 RTX, with no obvious difference in htop or nvidia-smi.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reproducing the issue with the stock ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py command, comparing the node's 3–4 FPS with the RealSense topics near 90 FPS. Use htop and nvidia-smi during both slow and smooth runs; done means the intermittent frame-rate cause is identified and documented or fixed.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, performance, robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100