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Question Delay problem of subscribing image topic from ROS in Unity

Discussion in 'Robotics' started by wy7711, Aug 16, 2022.

  1. wy7711


    Jan 23, 2020
    Hi, I tried to publish a sensor_msgs/Image from ROS to visualize in Unity. I installed ROS-TCP-Connector and Unity Robotics Visualization packages. My image size is 480*640. When my publishing frequency is 30 Hz in ROS, the image visualized in the HUB is like slow motion, and the delay increase as time goes by. I check the time interval of each message callback function, which is around 0.06s (Not fixed frequency). So I reduce the publishing frequency to 5 Hz in ROS, then the delay problem in Unity disappears.

    So I am wondering how to change the subscription frequency in Unity to enhance the performance.

    - Unity version: 2021.3.4 f1
    - ROS TCP Connector: 0.7.0
    - Unity Robotics Visualizations: 0.7.0
  2. LaurieUnity


    Unity Technologies

    Oct 23, 2020
  3. Muhammad_Faiq_Malik


    Sep 27, 2022
    i am having the same lag problem when subscribing to an image topic send over to unity by ROS can u suggest a solution.