high resource usage with zed sdk 5.0.1 and noetic

[ladrians]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Using the 5.0.1 SDK version on ROS noetic I noticed high resource usage. I am using jetson Orin and almost all the cores are used, this was not hapenning on 4.x version. We tweaked rate to process 5hz for images and 10hz for IMU. from the log I see

[ INFO] [1750340266.104542954]: ********** Starting nodelet '/zed/zed_node' **********
[ INFO] [1750340266.106659530]: SDK version: 5.0.1
[ INFO] [1750340266.109654442]: *** GENERAL PARAMETERS ***
...
[ INFO] [1750340266.112379658]:  * Camera resolution            -> HD720
[ INFO] [1750340266.113194954]:  * Camera Grab Framerate        -> 15
[ INFO] [1750340266.113799370]:  * Grab compute capping FPS     -> 5 Hz
[ INFO] [1750340266.114329322]:  * Publishing resolution        -> CUSTOM
[ INFO] [1750340266.114901002]:  * Publishing downscale factor  -> 2
[ INFO] [1750340266.117056746]:  * Gpu ID                       -> -1
[ INFO] [1750340266.118130314]:  * Camera ID                    -> 0
[ INFO] [1750340266.119174762]:  * SDK Verbose level            -> 1
...
[ INFO] [1750340266.126018410]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1750340266.169177162]:  * [DYN] Depth confidence       -> 50
[ INFO] [1750340266.170739818]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1750340266.172206666]:  * [DYN] point_cloud_freq       -> 4 Hz
[ INFO] [1750340266.172613226]: *** DEPTH PARAMETERS ***
[ INFO] [1750340266.178845098]:  * Depth mode                   -> NEURAL [5]
...

the resources from jtop

zed_wrapper_node, nvargus_daemon and ZED_Media_Server the top ones. What actions can I take to improve it and be back to similar usage from SDK 4.x?

Steps to Reproduce

Nothing special here, just launched the standard node with the new SDK update.

Expected Result

Resource usage similar to 4.x SDK version

Actual Result

too high resource usage

ZED Camera model

ZED2i

Environment

Jetson Orin jetpack 5.1.3 L4T 35.5.0
Ubuntu 20.04.6 LTS
ROS noetic

Anything else?

No response

[ladrians]

any comment on this issue?

[ladrians]

for reference this is the usage on sdk 4.x version, quite different footprint

[ladrians]

updated to sdk 5.0.3 using the same Jetson Orin Dev kit, the same issue. Finally we disabled and stopped the zed_media_server_cli.service service as we use everything ROS based. That make a huge difference and we got back to similar 4.x usage statistics, at least similar jtop here

This is the status for the media server, what is expected on the virtual_xone_config.json file configuration?

● zed_media_server_cli.service - ZED Media Server
     Loaded: loaded (/etc/systemd/system/zed_media_server_cli.service; disabled; vendor preset: enabled)
     Active: active (running)
   Main PID: 101915 (ZED_Media_Serve)
      Tasks: 13 (limit: 74706)
     Memory: 28.7M
     CGroup: /system.slice/zed_media_server_cli.service
             └─101915 /usr/local/zed/tools/ZED_Media_Server --cli

ubuntu systemd[1]: Started ZED Media Server.
ubuntu ZED_Media_Server[101915]: [ZEDMediaServer] Version  0.1.9
ubuntu ZED_Media_Server[101915]: ** CLI version **
ubuntu ZED_Media_Server[101915]:  ==> Using configuration file  "/usr/local/zed/settings/virtual_xone_config.json"
ubuntu ZED_Media_Server[101915]: [Error] Configuration file  "/usr/local/zed/settings/virtual_xone_config.json" does not exists !