ZED X mini with Jetson Nano Orin low capture/publish frequency

[franzpeter124]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I can not get the desired frequency for image capture and publication, same for pos. tracking (/tf)from the camera.
Based on solutions of related issues I investigated:

• CPU (ca. 50% use) and GPU (sometimes 70% spikes, otherwise much lower) are not close to their limit.
• subscribing to camera images / NOT subscribing has no influence on the effective frequency (ruling out high network traffic?!)
• I tried many combination of parameters I could think of, especially parameters that I suppose have the biggest influence on computation, starting from the standard common.yaml and zedxm.yaml: grab_resolution, grab_frame_rate, min_depth, depth_mode, point_cloud_freq, path_max_count, mapping and object detection are off
• jetson_clocks did not make any difference

My main usage of the camera is Pos. tracking and publication of map -> odom -> base_link.

Steps to Reproduce

1. Run ros wrapper
2. Observe capture/publish frequency via rostopic hz and rqt diagnostics

Expected Result

As defined in yaml files: 15hz frequency

Actual Result

Maximum of 10-12 hz frequency.

ZED Camera model

ZED Mini

Environment

Hardware setup:
ZED x mini with capture card mono:
- driver: stereolabs-zedx_1.0.5-ZED-LINK-MONO-L4T35.4.1_arm64

Jetson Orin nano:
- ZED SDK: ZED_SDK_Tegra_L4T35.4_v4.1.3
- ROS noetic
- Jetpack 5.1.2 L4t 35.4.1


Note:
- ROS master runs on other jetson device, connected via gigabit router (which can easily route other images streams)

Anything else?

• Is there any important parameter I am missing that has a big influence on computation?
• Is the Jetson Orin Nano just too weak to compute the pos. tracking?
• Could a change to ROS2 code improve the situation?

[SpraggettMG]

Any updates?