ROS topic rates are very very low

[brytsknguyen]

Hi all,

I am trying to run the first AirSim tutorial and is encountering very low topic rates.

My setup is as follows:
+Ubuntu 18.04
+Intel® Core™ i7-9750H CPU @ 2.60GHz × 12
+GeForce RTX 2080 with Max-Q Design/PCIe/SSE2
+nvidia-driver-440
+Linux 5.3.0-51-generic
+ROS melodic

So after starting the Blocks binary I launched the ros node and found that all topics have very low rates for all of the topics. Below is a screenshot of the terminal when I run rostopic hz /airsim_node/drone_1/lidar/LidarCustom:

The CPU usage is pretty normal, please see below:

I wonder where the issue is? Could it be because of the setup? Should I downgrade to Ubuntu 16.04 or use docker?

Thanks in advance!

[rajat2004]

There's currently a bug in the release in Lidar where DrawDebugPoints if True will drop the FPS like anything. A fix (#2614) has been merged in master
Try setting DrawDebugPoints to False in the settings and see if it improves

[brytsknguyen]

Thanks! After setting the parameter to false I can get 5Hz of img, 25Hz of lidar and 30Hz of IMU. I think the issue can be closed. Will check (#2369) for customizing the rate.