Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add how to echo Extrinsic topic on intra-process to README #2333

Merged
merged 3 commits into from
Apr 27, 2022
Merged

Add how to echo Extrinsic topic on intra-process to README #2333

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
254d569
add how to echo extrinsics topic on intra-process to README
Nir-Az Apr 27, 2022
72d3490
Update README.md
maloel Apr 27, 2022
bf81a85
Update README.md
maloel Apr 27, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 9 additions & 2 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -281,8 +281,15 @@ Further details on efficient intra-process communication can be found [here](htt
### Limitations

* Node components are currently not supported on RCLPY
* Transformations: `/static_tf` topic will be disabled (activate and read `/tf` topic and `/extrinsic/<stream>_to_<stream>` and use `-p tf_publish_rate:=1.0` on the command-line)
* `image_transport` use for compressed image topic will be disabled as it does not support intra-process communication
* Transformations: `/static_tf` topic will be disabled
* To get the transformations published:
* Set `tf_publish_rate` to `1.0` in the launch file (or on the command-line, using `-p tf_publish_rate:=1.0`)
* Activate and read `/tf` and `/extrinsic/<stream>_to_<stream>` topics
* To echo the `/extrinsic/<stream>_to_<stream>` topic you will need to change the default CLI QoS to match the new QoS that the `intra-process` flow uses. E.g.:
```bash
ros2 topic echo /extrinsics/depth_to_color --qos-durability=volatile --qos-reliability=reliable
```
* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication

### Latency test tool and launch file

Expand Down