Astra pro rgb-depth registration publish in very low rate

Technical Support & Q&A Basic
1

Hello everyone,

I’m using Astra Pro with ROS on Ubuntu 16.04,

My goal is to have rgbd image, so I’m trying to register rgb image to depth image

To do so, I’m using the astrapro launch file:

roslaunch astra_launch astrapro.launch

This publish /color/depth/image_raw with frame “camera_depth_optical_frame” in rate of 30hz

Then, I use libuvc_camera package to publish /rgb_camera/image_raw with frame “camera_rgb_optical_frame” in rate of 30Hz

To register the rgb to depth camera, I’m using depth_image_proc/register :

<node pkg="nodelet" type="nodelet" name="depth_registered_sync_nodelet" args="load depth_image_proc/register standalone_nodelet">
    <remap from="rgb/camera_info" to="/rgb_camera/camera_info" /> 
    <remap from="depth/camera_info" to="/camera/depth/camera_info" />          
    <remap from="depth/image_rect" to="/camera/depth/image_raw"/>  
    <remap from="depth_registered/camera_info" to="/camera/depth_registered_sync/camera_info"/>  
    <remap from="depth_registered/image_rect" to="/camera/depth_registered_sync/image"/>
</node>

This causes “/camera/depth_registered_sync/image” to be published with frame “camera_rgb_optical_frame” as needed, but with rate of 1.3Hz, and the data published is not good.

Any idea what I’m doing wrong?
Any other way to do the registration?

Thanks