Bandwith and framerate issues

[gscortichini]

Hi everyone, i`m using a Pointgrey Blackfly Camera (BFLY-PGE-23S6C, 1920x1200) through ROS pointgrey_camera_driver.
My camera works perfectly on FlyCap2, where i can easly reach 40Hz of framerate (the max framerate for that camera model is 41).

When i work with point_grey_camera driver with this launch file:

<node pkg="nodelet" type="nodelet" name="camera_nodelet"
      args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
  <param name="frame_id" value="camera" />
  <param name="serial" value="$(arg camera_serial)" />

  <!-- When unspecified, the driver will use the default framerate as given by the
       camera itself. Use this parameter to override that value for cameras capable of
       other framerates. -->
       <param name="frame_rate" value="35" />
       <param name="format7_color_coding" value="Mono8" /> 
  <!-- Use the camera_calibration package to create this file -->
  <param name="camera_info_url" if="$(arg calibrated)"
         value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
</node>

<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
      args="load image_proc/debayer camera_nodelet_manager">

</node>

---

I can reach only 12Hz of framerate on "camera/image_raw" topic.
It doesn`t matter which videomode i choose, the max framerate is always 12Hz.

I tried Raw8,Raw16,Mono8 and Mono16. I get always the same max framerate.
This means that the Bandwith is variable, but not directly by setting one specific parameter.

After this, when i run Flycap2, i noticed that the Packet Size and Packet Delay values were changed, and obviously the Bandwith too.

Is there anything i can do in order to increase the framerate and reach 35Hz or 40Hz?

[cynosure4sure]

did you find any solution for this? I am using Chameleon 3 on one of my older computer it works fine but on the new one I can't get a frame rate higher than 5.6

[brianabrams]

Try adjusting the frame rate by running rosrun rqt_reconfigure rqt_reconfigure

[JaouadROS]

@brianabrams It works but you need to launch rqt_reconfigure everytime you use the driver?

[deepdarkenergy]

Try turn off auto_shutter and manual set the shutter speed in the launch file.