realsense_rgbd_transport_ros2

Dependencies

Realsense SDK

. /opt/ros/foxy/setup.bash
sudo apt install ros-${ROS_DISTRO}-realsense2-camera -y
sudo apt install ros-${ROS_DISTRO}-compressed-image-transport

Usage

ros2 run realsense_rgbd_transport_ros2 rgbd_pub
ros2 run realsense_rgbd_transport_ros2 rgbd_sub
ros2 run realsense_rgbd_transport_ros2 rgbd_sub_compressed

Performance

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	5G	No	42Mbps	0.115s	24
ROS2 Rolling	Ubuntu 22.04	5G	Yes	4.2Mbps	0.1s	29.9
ROS1 Noetic	Ubuntu 20.04	5G	No	30Mbps #	0.5s	20 #
ROS1 Noetic	Ubuntu 20.04	5G	Yes	1.27Mbps	0.53s	20
ROS2 Foxy	Ubuntu 20.04	5G	No	35.19Mbps	0.055s	23.1
ROS2 Foxy	Ubuntu 20.04	5G	Yes	3.34Mbps	0.004s	29.97
Foxy (bridge) and Noetic	Ubuntu 20.04	5G	No	28.87Mbps	0.327s	21.5
Foxy (bridge) and Noetic	Ubuntu 20.04	5G	Yes	3.265Mbps	0.07	29.99
Foxy and Noetic (bridge)	Ubuntu 20.04	5G	No	29.08Mbps	0.061	22.663
Foxy and Noetic (bridge)	Ubuntu 20.04	5G	Yes	4.14Mbps	-0.027	30.02

# means the value is very unstable.

Performance

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	5G	No	42Mbps	0.115s	24
ROS2 Rolling	Ubuntu 22.04	5G	Yes	4.2Mbps	0.1s	29.9
ROS2 Rolling	Ubuntu 22.04	2.4G	No	4.2Mbps	0.15s	3
ROS2 Rolling	Ubuntu 22.04	2.4G	Yes	4Mbps #	0.07s #	13 #
ROS1 Noetic	Ubuntu 20.04	5G	No	30Mbps #	0.5s	20 #
ROS1 Noetic	Ubuntu 20.04	5G	Yes	1.27Mbps	0.53s	20
ROS1 Noetic	Ubuntu 20.04	2.4G	No	4.8Mbps #	1s #	3 #
ROS1 Noetic	Ubuntu 20.04	2.4G	Yes	1.26Mbps	0.688s	15.7

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	5G	No	42Mbps	0.115s	24
ROS2 Rolling	Ubuntu 22.04	5G	Yes	4.2Mbps	0.1s	29.9

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	2.4G	No	4.2Mbps	0.15s	3
ROS2 Rolling	Ubuntu 22.04	2.4G	Yes	4Mbps #	0.07s #	13 #

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	5G	No	42Mbps	0.115s	24
ROS1 Noetic	Ubuntu 20.04	5G	No	30Mbps #	0.5s	20 #

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	5G	Yes	4.2Mbps	0.1s	29.9
ROS1 Noetic	Ubuntu 20.04	5G	Yes	1.27Mbps	0.53s	20

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	2.4G	No	4.2Mbps	0.15s	3
ROS1 Noetic	Ubuntu 20.04	2.4G	No	4.8Mbps #	1s #	3 #

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	2.4G	Yes	4Mbps #	0.07s #	13 #
ROS1 Noetic	Ubuntu 20.04	2.4G	No	4.8Mbps #	1s #	3 #
ROS1 Noetic	Ubuntu 20.04	2.4G	Yes	1.26Mbps	0.688s	15.7

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	5G	No	42Mbps	0.115s	24
ROS2 Rolling	Ubuntu 22.04	5G	Yes	4.2Mbps	0.1s	29.9
ROS1 Noetic	Ubuntu 20.04	5G	No	30Mbps #	0.5s	20 #
ROS1 Noetic	Ubuntu 20.04	5G	Yes	1.27Mbps	0.53s	20

# means the value is very unstable.

Version	Platform	WiFi	Compressed	BandWidth	Latency	Frequency
ROS2 Rolling	Ubuntu 22.04	2.4G	No	4.2Mbps	0.15s	3
ROS2 Rolling	Ubuntu 22.04	2.4G	Yes	4Mbps #	0.07s #	13 #
ROS1 Noetic	Ubuntu 20.04	2.4G	No	4.8Mbps #	1s #	3 #
ROS1 Noetic	Ubuntu 20.04	2.4G	Yes	1.26Mbps	0.688s	15.7

# means the value is very unstable.