ROS with Raspberry Pi: Investigating the Core Issue of Slow Streaming Performance

Hardware & Software Overview

  • Raspberry Pi4B 4GB RAM
  • Ubuntu 20.04 Server LTS (headless)
  • ROS Noetic 1.15.11
  • Intel Celeron N3450 @ 4x 2,2GHz, 6GB RAM
  • Ubuntu 20.04 focal
  • ROS Noetic 1.15.11

Baseline Performance

ROS1: ROS Camera Parameter Configurations

Realsense  SDK v2.47
Realsense ROS 2.3.2

ROS1: Decreasing Realsense SDK

Realsense  SDK v2.41
Realsense Ros 2.2.21

ROS2: Decreasing Realsense SDK

Realsense  SDK v2.41
Realsense Ros 3.13

ROS Performance Considerations

Testing download speed................................................................................
Download: 4.22 Mbit/s
Testing upload speed......................................................................................................
Upload: 6.23 Mbit/s
Testing download speed................................................................................
Download: 106.04 Mbit/s
Testing upload speed......................................................................................................
Upload: 42.32 Mbit/s

Conclusion

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Sebastian

Sebastian

IT Project Manager & Developer