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add buffer size to remove delay if run on jetson #5

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add buffer size to remove delay if run on jetson #5

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8 changes: 4 additions & 4 deletions src/detect.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,22 +80,22 @@ def __init__(self):

if self.compressed_input:
self.image_sub = rospy.Subscriber(
input_image_topic, CompressedImage, self.callback, queue_size=1
input_image_topic, CompressedImage, self.callback, queue_size=1, buff_size=2**24
)
else:
self.image_sub = rospy.Subscriber(
input_image_topic, Image, self.callback, queue_size=1
input_image_topic, Image, self.callback, queue_size=1, buff_size=2**24
)

# Initialize prediction publisher
self.pred_pub = rospy.Publisher(
rospy.get_param("~output_topic"), BoundingBoxes, queue_size=10
rospy.get_param("~output_topic"), BoundingBoxes, queue_size=1
)
# Initialize image publisher
self.publish_image = rospy.get_param("~publish_image")
if self.publish_image:
self.image_pub = rospy.Publisher(
rospy.get_param("~output_image_topic"), Image, queue_size=10
rospy.get_param("~output_image_topic"), Image, queue_size=1
)

# Initialize CV_Bridge
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