No synchornization
nakai-omer opened this issue · comments
Hello,
Using version 3.1.7 we are getting the following error:
[apriltag_node-19] [WARN] [1695716272.118892884] [apriltag_node]: [image_transport] Topics '/trunk4_camera/image_raw' and '/camera_info' do not appear to be synchronized. In the last 10s:
[apriltag_node-19] Image messages received: 0
[apriltag_node-19] CameraInfo messages received: 10
[apriltag_node-19] Synchronized pairs: 0
The topic is publishing and the image_transport is subscribed as expected:
ros2 topic hz /trunk4_camera/image_raw
average rate: 10.016
min: 0.096s max: 0.103s std dev: 0.00212s window: 12
When debugging it seems like image callback is not being called in the correct rate, as if the thread doesn't get any priority to run.
Ended up being a QOS mistmatch between gazebo's camera publisher and apriltag_ros.
In case anyone else runs into it, you can run:
ros2 topic info -v TOPIC_NAME
And compare the QOS policy between the publisher and subscriber.