diff --git a/software/ros_packages/ground_station/scripts/ground_station_launch.sh b/software/ros_packages/ground_station/scripts/ground_station_launch.sh
index d5ceac8..7c674a0 100755
--- a/software/ros_packages/ground_station/scripts/ground_station_launch.sh
+++ b/software/ros_packages/ground_station/scripts/ground_station_launch.sh
@@ -11,7 +11,7 @@ launch_dir_length_without_current_folder=$(($launch_dir_length-$current_folder_n
script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src"
cd $script_launch_path
-sleep 3
+sleep 1
export DISPLAY=:0
python ground_station.py
\ No newline at end of file
diff --git a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
index 0ee440a..4042329 100644
--- a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
+++ b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
@@ -9,18 +9,15 @@ import rospy
# Custom Imports
import RoverVideoReceiver
+from rover_camera.msg import CameraControlMessage
#####################################
# Global Variables
#####################################
CAMERA_TOPIC_PATH = "/cameras/"
EXCLUDED_CAMERAS = ["zed"]
-#
-# PRIMARY_LABEL_MAX = (640, 360)
-# SECONDARY_LABEL_MAX = (256, 144)
-# TERTIARY_LABEL_MAX = (256, 144)
-PRIMARY_LABEL_MAX = (1280, 720)
+PRIMARY_LABEL_MAX = (640, 360)
SECONDARY_LABEL_MAX = (640, 360)
TERTIARY_LABEL_MAX = (640, 360)
@@ -58,26 +55,35 @@ class RoverVideoCoordinator(QtCore.QThread):
self.valid_cameras = []
self.disabled_cameras = []
+ reset_camera_message = CameraControlMessage()
+ reset_camera_message.enable_small_broadcast = True
+ # Reset default cameras
+ rospy.Publisher("/cameras/chassis/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
+ rospy.Publisher("/cameras/undercarriage/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
+ rospy.Publisher("/cameras/main_navigation/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
+ rospy.Publisher("/cameras/end_effector/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
+
+ self.msleep(3000)
+
# Setup cameras
self.__get_cameras()
self.__setup_video_threads()
self.primary_label_current_setting = 0
- self.secondary_label_current_setting = 0
- self.tertiary_label_current_setting = 0
+ self.secondary_label_current_setting = min(self.primary_label_current_setting + 1, len(self.valid_cameras))
+ self.tertiary_label_current_setting = min(self.secondary_label_current_setting + 1, len(self.valid_cameras))
self.primary_label_max_resolution = -1
self.secondary_label_max_resolution = -1
self.tertiary_label_max_resolution = -1
+ self.set_max_resolutions_flag = True
+
self.first_image_received = False
def run(self):
self.logger.debug("Starting Video Coordinator Thread")
- self.__set_max_resolutions() # Do this initially so we don't try to disable cameras before they're set up
- self.msleep(500)
-
while self.run_thread_flag:
self.__set_max_resolutions()
self.__toggle_background_cameras_if_needed()
@@ -88,37 +94,26 @@ class RoverVideoCoordinator(QtCore.QThread):
self.logger.debug("Stopping Video Coordinator Thread")
def __set_max_resolutions(self):
- self.primary_label_max_resolution = self.camera_threads[
- self.valid_cameras[self.primary_label_current_setting]].current_max_resolution
- self.secondary_label_max_resolution = self.camera_threads[
- self.valid_cameras[self.secondary_label_current_setting]].current_max_resolution
- self.tertiary_label_max_resolution = self.camera_threads[
- self.valid_cameras[self.tertiary_label_current_setting]].current_max_resolution
+ if self.set_max_resolutions_flag:
+ self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].set_hard_max_resolution(PRIMARY_LABEL_MAX)
- if self.primary_label_max_resolution != PRIMARY_LABEL_MAX:
- self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].change_max_resolution_setting(
- PRIMARY_LABEL_MAX)
+ if self.secondary_label_current_setting != self.primary_label_current_setting:
+ self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].set_hard_max_resolution(SECONDARY_LABEL_MAX)
- if self.secondary_label_max_resolution != SECONDARY_LABEL_MAX and self.secondary_label_current_setting != self.primary_label_current_setting:
- self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].change_max_resolution_setting(
- SECONDARY_LABEL_MAX)
+ if self.tertiary_label_current_setting != self.primary_label_current_setting and self.tertiary_label_current_setting != self.secondary_label_current_setting:
+ self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].set_hard_max_resolution(SECONDARY_LABEL_MAX)
- if self.tertiary_label_max_resolution != TERTIARY_LABEL_MAX and self.tertiary_label_current_setting != self.primary_label_current_setting:
- self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].change_max_resolution_setting(
- TERTIARY_LABEL_MAX)
+ self.set_max_resolutions_flag = False
def __toggle_background_cameras_if_needed(self):
- if self.first_image_received:
- enabled = list({self.primary_label_current_setting, self.secondary_label_current_setting,
- self.tertiary_label_current_setting})
+ enabled = list({self.primary_label_current_setting, self.secondary_label_current_setting,
+ self.tertiary_label_current_setting})
- for camera_index, camera_name in enumerate(self.valid_cameras):
- if camera_index not in enabled and camera_index not in self.disabled_cameras:
- self.camera_threads[camera_name].toggle_video_display()
- self.disabled_cameras.append(camera_index)
- elif camera_index in enabled and camera_index in self.disabled_cameras:
- self.camera_threads[camera_name].toggle_video_display()
- self.disabled_cameras.remove(camera_index)
+ for camera_index, camera_name in enumerate(self.valid_cameras):
+ if camera_index not in enabled and camera_index not in self.disabled_cameras and self.camera_threads[camera_name].video_enabled:
+ self.camera_threads[camera_name].toggle_video_display()
+ elif camera_index in enabled and camera_index not in self.disabled_cameras and not self.camera_threads[camera_name].video_enabled:
+ self.camera_threads[camera_name].toggle_video_display()
def __get_cameras(self):
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
@@ -167,33 +162,54 @@ class RoverVideoCoordinator(QtCore.QThread):
def __change_display_source_primary_mouse_press_event(self, event):
if event.button() == QtCore.Qt.LeftButton:
self.primary_label_current_setting = (self.primary_label_current_setting + 1) % len(self.valid_cameras)
+ self.set_max_resolutions_flag = True
elif event.button() == QtCore.Qt.RightButton:
+ if self.primary_label_current_setting in self.disabled_cameras:
+ self.disabled_cameras.remove(self.primary_label_current_setting)
+ else:
+ self.disabled_cameras.append(self.primary_label_current_setting)
self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].toggle_video_display()
def __change_display_source_secondary_mouse_press_event(self, event):
if event.button() == QtCore.Qt.LeftButton:
self.secondary_label_current_setting = (self.secondary_label_current_setting + 1) % len(self.valid_cameras)
+ self.set_max_resolutions_flag = True
elif event.button() == QtCore.Qt.RightButton:
+ if self.secondary_label_current_setting in self.disabled_cameras:
+ self.disabled_cameras.remove(self.secondary_label_current_setting)
+ else:
+ self.disabled_cameras.append(self.secondary_label_current_setting)
self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].toggle_video_display()
def __change_display_source_tertiary_mouse_press_event(self, event):
if event.button() == QtCore.Qt.LeftButton:
self.tertiary_label_current_setting = (self.tertiary_label_current_setting + 1) % len(self.valid_cameras)
+ self.set_max_resolutions_flag = True
elif event.button() == QtCore.Qt.RightButton:
+ if self.tertiary_label_current_setting in self.disabled_cameras:
+ self.disabled_cameras.remove(self.tertiary_label_current_setting)
+ else:
+ self.disabled_cameras.append(self.tertiary_label_current_setting)
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].toggle_video_display()
def pixmap_ready__slot(self, camera):
- if not self.first_image_received:
- self.first_image_received = True
-
if self.valid_cameras[self.primary_label_current_setting] == camera:
- self.primary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_1280x720_image)
+ try:
+ self.primary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_1280x720_image)
+ except:
+ pass
if self.valid_cameras[self.secondary_label_current_setting] == camera:
- self.secondary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
+ try:
+ self.secondary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
+ except:
+ pass
if self.valid_cameras[self.tertiary_label_current_setting] == camera:
- self.tertiary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
+ try:
+ self.tertiary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
+ except:
+ pass
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False
diff --git a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
index 361e10b..417dfd8 100644
--- a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
+++ b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
@@ -7,6 +7,7 @@ import logging
import cv2
import numpy as np
import qimage2ndarray
+from time import time
import rospy
import dynamic_reconfigure.client
@@ -14,6 +15,7 @@ from cv_bridge import CvBridge
from sensor_msgs.msg import CompressedImage
# Custom Imports
+from rover_camera.msg import CameraControlMessage
#####################################
# Global Variables
@@ -23,6 +25,11 @@ CAMERA_TOPIC_PATH = "/cameras/"
QUALITY_MAX = 80
QUALITY_MIN = 15
+FRAMERATE_AVERAGING_TIME = 10 # seconds
+
+MIN_FRAMERATE_BEFORE_ADJUST = 23
+MAX_FRAMERATE_BEFORE_ADJUST = 28
+
#####################################
# RoverVideoReceiver Class Definition
@@ -30,6 +37,14 @@ QUALITY_MIN = 15
class RoverVideoReceiver(QtCore.QThread):
image_ready_signal = QtCore.pyqtSignal(str)
+ RESOLUTION_OPTIONS = [(256, 144), (640, 360), (1280, 720)]
+
+ RESOLUTION_MAPPINGS = {
+ (1280, 720): None,
+ (640, 360): None,
+ (256, 144): None
+ }
+
def __init__(self, camera_name):
super(RoverVideoReceiver, self).__init__()
@@ -49,22 +64,35 @@ class RoverVideoReceiver(QtCore.QThread):
self.camera_title_name = self.camera_name.replace("_", " ").title()
self.topic_base_path = CAMERA_TOPIC_PATH + self.camera_name
- self.camera_topics = {}
-
- self.current_max_resolution = None
-
- self.current_camera_settings = {
- "resolution": None,
- "quality_setting": QUALITY_MAX,
-
- }
-
- self.previous_camera_settings = self.current_camera_settings.copy()
-
- self.temp_topic_path = CAMERA_TOPIC_PATH + self.camera_name + "/image_640x360/compressed"
+ self.control_topic_path = self.topic_base_path + "/camera_control"
# Subscription variables
- self.video_subscriber = None # type: rospy.Subscriber
+ self.video_subscribers = []
+
+ self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_1280x720/compressed", CompressedImage, self.__image_data_received_callback))
+ self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_640x360/compressed", CompressedImage, self.__image_data_received_callback))
+ self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_256x144/compressed", CompressedImage, self.__image_data_received_callback))
+
+ # Publisher variables
+ self.camera_control_publisher = rospy.Publisher(self.control_topic_path, CameraControlMessage, queue_size=1)
+
+ # Set up resolution mappings
+ self.RESOLUTION_MAPPINGS[(1280, 720)] = CameraControlMessage()
+ self.RESOLUTION_MAPPINGS[(640, 360)] = CameraControlMessage()
+ self.RESOLUTION_MAPPINGS[(256, 144)] = CameraControlMessage()
+
+ self.RESOLUTION_MAPPINGS[(1280, 720)].enable_large_broadcast = True
+ self.RESOLUTION_MAPPINGS[(640, 360)].enable_medium_broadcast = True
+ self.RESOLUTION_MAPPINGS[(256, 144)].enable_small_broadcast = True
+
+ # Auto resolution adjustment variables
+ self.current_resolution_index = 1
+ self.last_resolution_index = self.current_resolution_index
+ self.max_resolution_index = len(self.RESOLUTION_OPTIONS)
+
+ self.frame_count = 0
+ self.last_framerate_time = time()
+ self.resolution_just_adjusted = False
# Image variables
self.raw_image = None
@@ -87,17 +115,14 @@ class RoverVideoReceiver(QtCore.QThread):
self.camera_name_opencv_1280x720_image = None
self.camera_name_opencv_640x360_image = None
- # ROS Dynamic Reconfigure Client
- self.reconfigure_clients = {}
-
# Initial class setup to make text images and get camera resolutions
self.__create_camera_name_opencv_images()
- self.__get_camera_available_resolutions()
- #self.__setup_reconfigure_clients()
def run(self):
self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
+ self.__enable_camera_resolution(self.RESOLUTION_OPTIONS[self.current_resolution_index])
+
while self.run_thread_flag:
if self.video_enabled:
self.__show_video_enabled()
@@ -108,62 +133,43 @@ class RoverVideoReceiver(QtCore.QThread):
self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name)
- def __perform_quality_check_and_adjust(self):
- self.__set_jpeg_quality(self.current_camera_settings["quality_setting"])
+ def __enable_camera_resolution(self, resolution):
+ self.camera_control_publisher.publish(self.RESOLUTION_MAPPINGS[resolution])
- def __set_jpeg_quality(self, quality_setting):
- self.reconfigure_clients[self.current_camera_settings["resolution"]].update_configuration({"jpeg_quality": quality_setting})
+ def __check_framerate_and_adjust_resolution(self):
+ time_diff = time() - self.last_framerate_time
+ if time_diff > FRAMERATE_AVERAGING_TIME:
+ current_fps = self.frame_count / time_diff
- def __setup_reconfigure_clients(self):
- for resolution_group in self.camera_topics:
- image_topic_string = "image_%sx%s" % resolution_group
- full_topic = self.topic_base_path + "/" + image_topic_string + "/compressed"
- self.reconfigure_clients[resolution_group] = dynamic_reconfigure.client.Client(full_topic)
+ if current_fps >= MAX_FRAMERATE_BEFORE_ADJUST:
+ self.current_resolution_index = min(self.current_resolution_index + 1, self.max_resolution_index)
+ elif current_fps <= MIN_FRAMERATE_BEFORE_ADJUST:
+ self.current_resolution_index = max(self.current_resolution_index - 1, 0)
- def __get_camera_available_resolutions(self):
- topics = rospy.get_published_topics(self.topic_base_path)
+ if self.last_resolution_index != self.current_resolution_index:
+ self.camera_control_publisher.publish(
+ self.RESOLUTION_MAPPINGS[self.RESOLUTION_OPTIONS[self.current_resolution_index]])
+ print "Setting %s to %s" % (self.camera_title_name, self.RESOLUTION_OPTIONS[self.current_resolution_index])
+ self.last_resolution_index = self.current_resolution_index
+ self.resolution_just_adjusted = True
- resolution_options = []
-
- for topics_group in topics:
- main_topic = topics_group[0]
- if "heartbeat" in main_topic:
- continue
- camera_name = main_topic.split("/")[3]
- resolution_options.append(camera_name)
-
- resolution_options = list(set(resolution_options))
-
- for resolution in resolution_options:
- # Creates a tuple in (width, height) format that we can use as the key
- group = int(resolution.split("image_")[1].split("x")[0]), int(resolution.split("image_")[1].split("x")[1])
- self.camera_topics[group] = self.topic_base_path + "/" + resolution + "/compressed"
-
- def __update_camera_subscription_and_settings(self):
- if self.current_camera_settings["resolution"] != self.previous_camera_settings["resolution"]:
-
- if self.video_subscriber:
- self.video_subscriber.unregister()
- new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
- self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback)
-
- self.new_frame = False
- while not self.new_frame:
- self.msleep(10)
-
- self.previous_camera_settings["resolution"] = self.current_camera_settings["resolution"]
+ # print "%s: %s FPS" % (self.camera_title_name, current_fps)
+ self.last_framerate_time = time()
+ self.frame_count = 0
def __show_video_enabled(self):
- self.__update_camera_subscription_and_settings()
+ if self.new_frame:
+ self.__check_framerate_and_adjust_resolution()
- if self.new_frame and self.current_camera_settings["resolution"]:
- # self.__perform_quality_check_and_adjust()
+ try:
+ opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
- opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
+ self.__create_final_pixmaps(opencv_image)
- self.__create_final_pixmaps(opencv_image)
+ self.image_ready_signal.emit(self.camera_name)
+ except Exception, error:
+ print "Failed with error:" + str(error)
- self.image_ready_signal.emit(self.camera_name)
self.new_frame = False
def __show_video_disabled(self):
@@ -196,8 +202,14 @@ class RoverVideoReceiver(QtCore.QThread):
def __image_data_received_callback(self, raw_image):
self.raw_image = raw_image
+ self.frame_count += 1
self.new_frame = True
+ if self.resolution_just_adjusted:
+ self.frame_count = 0
+ self.last_framerate_time = time()
+ self.resolution_just_adjusted = False
+
def __create_camera_name_opencv_images(self):
camera_name_text_width, camera_name_text_height = \
cv2.getTextSize(self.camera_title_name, self.font, self.font_thickness, self.font_baseline)[0]
@@ -224,20 +236,17 @@ class RoverVideoReceiver(QtCore.QThread):
self.camera_name_opencv_640x360_image = \
cv2.resize(camera_name_opencv_image, (camera_name_width_buffered / 2, camera_name_height_buffered / 2))
- def change_max_resolution_setting(self, resolution_max):
- self.current_max_resolution = resolution_max
- self.current_camera_settings["resolution"] = resolution_max
+ def set_hard_max_resolution(self, resolution):
+ self.max_resolution_index = self.RESOLUTION_OPTIONS.index(resolution)
def toggle_video_display(self):
- if self.video_enabled:
- if self.video_subscriber:
- self.video_subscriber.unregister()
- self.new_frame = True
- self.video_enabled = False
- else:
- new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
- self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback)
+ if not self.video_enabled:
+ self.camera_control_publisher.publish(self.RESOLUTION_MAPPINGS[self.RESOLUTION_OPTIONS[self.current_resolution_index]])
self.video_enabled = True
+ self.new_frame = True
+ else:
+ self.camera_control_publisher.publish(CameraControlMessage())
+ self.video_enabled = False
def connect_signals_and_slots(self):
pass
diff --git a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
index 0c1dea6..7df2eac 100644
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
@@ -2,12 +2,25 @@
-
+
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}]
+
+
+
+
+
+ [
+ {name: "/cameras/chassis/camera_control", compress: true, rate: 5.0},
+ {name: "/cameras/undercarriage/camera_control", compress: true, rate: 5.0},
+ {name: "/cameras/main_navigation/camera_control", compress: true, rate: 5.0},
+ {name: "/cameras/end_effector/camera_control", compress: true, rate: 5.0}
+ ]
+
+
diff --git a/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch b/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch
index 3a8de85..67d59dd 100644
--- a/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch
+++ b/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch
@@ -3,5 +3,9 @@
+
+
+
+
diff --git a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
index 2cb104d..585af33 100644
--- a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
@@ -6,7 +6,7 @@
- [{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 0.0}]
@@ -14,7 +14,7 @@
- [{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 0.0}]
@@ -22,7 +22,7 @@
- [{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 0.0}]
@@ -30,7 +30,7 @@
- [{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 0.0}]
@@ -38,7 +38,7 @@
- [{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 0.0}]
@@ -46,7 +46,7 @@
- [{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 0.0}]
@@ -54,7 +54,7 @@
- [{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 0.0}]
@@ -62,7 +62,7 @@
- [{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 0.0}]
@@ -70,7 +70,7 @@
- [{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 0.0}]
@@ -78,7 +78,7 @@
- [{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 0.0}]
@@ -86,7 +86,7 @@
- [{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 0.0}]
@@ -94,7 +94,7 @@
- [{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
+ [{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]