111 lines
2.7 KiB
Markdown
111 lines
2.7 KiB
Markdown
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# 帧率低问题排查清单
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## 🔍 问题症状
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- ✅ `ros2 topic hz /camera/image_raw` 显示：0.356 fps（预期 30 fps）
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- ✅ 最大延迟快速增长：0.032s → 68.640s
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- ✅ UDP 发送节点日志显示 FPS: 0
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## 🎯 根本原因
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**每次发送 UDP 分片前都有 100 微秒的睡眠，且这个睡眠累加到数百毫秒级别，导致应用层严重阻塞**
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## ✅ 已完成的修复
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### 1. ❌ 删除致命的睡眠指令
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**文件**：`src/udp_sender_node.cpp` 第 345 行
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```diff
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- std::this_thread::sleep_for(std::chrono::microseconds(100));
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```
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**预期效果**：帧率提升 80-85 倍 (0.35 fps → 28-30 fps)
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### 2. 📦 增加消息队列深度
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**文件**：`src/udp_sender_node.cpp` 第 98-107 行
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```cpp
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rclcpp::QoS qos_profile = rclcpp::SensorDataQoS();
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qos_profile.keep_last(10); // 保留 10 条消息
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```
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**效果**：防止相机消息丢弃
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### 3. 📊 修复 FPS 统计
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**文件**：`src/udp_sender_node.cpp` report_stats() 函数
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**改动**：使用周期统计而非累计统计
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**效果**：准确显示实时帧率
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### 4. 🎬 优化相机格式
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**文件**：`config/params.yaml`
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```yaml
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pixel_format: "mjpeg" # 从 raw_mjpeg 改为 mjpeg
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```
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### 5. ⚙️ 新增性能参数
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**文件**：`config/params.yaml`
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```yaml
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qos_keep_last: 10
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enable_batch_send: true
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send_interval_ms: 0
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```
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## 🚀 后续测试步骤
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### Step 1: 重新编译
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```bash
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cd ~/code/camera/flyLink/skylink_ros2
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colcon build --packages-select skylink_bridge
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source install/setup.bash
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```
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### Step 2: 运行 launch
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```bash
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ros2 launch skylink_bridge bridge.launch.py
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```
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### Step 3: 新终端测试帧率
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```bash
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ros2 topic hz /camera/image_raw
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```
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**预期输出**：
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```
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average rate: 29.8
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min: 0.032s max: 0.036s std dev: 0.002s window: 100
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```
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### Step 4: 检查日志
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注意以下日志输出：
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```
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📊 统计 - FPS: 29, 速率: XXX KB/s, ...
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```
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（之前显示 FPS: 0）
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## 📋 检查清单
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- [ ] 代码已修改（3 处修改）
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- [ ] 参数配置已更新
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- [ ] 项目已重新编译
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- [ ] 测试运行无编译错误
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- [ ] 帧率恢复到 25-30 fps
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- [ ] 日志显示正确的 FPS 统计
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## ❓ 如果仍有问题
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### 问题 1: 帧率仍低
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- 检查 CPU 使用率 (`top` 命令)
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- 检查网络拥塞 (`netstat -i`)
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- 检查是否有其他进程占用 USB 摄像头
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### 问题 2: 丢帧严重
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- 增加 `qos_keep_last` 参数值
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- 减少 JPEG 质量（`jpeg_quality: 70` → 60）
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- 检查网络带宽
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### 问题 3: 消息未到达
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- 检查 GPS Topic 是否存在：`ros2 topic list | grep mavros`
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- 如果 GPS 不可用，设置 `enable_gps: false`
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## 📚 相关文件
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- 详细分析报告：`PERFORMANCE_OPTIMIZATION.md`
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- 配置文件：`config/params.yaml`
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- 源代码：`src/udp_sender_node.cpp`
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- 头文件：`include/skylink_bridge/udp_sender_node.h`
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