Framerate drop using GiGE FLIR cameras

[Thomas-Merlet]

Hi,

I've been struggling to use this ROS Driver with GiGE FLIR cameras.
I'm currently able to launch the driver with one GiGE cameras, and get consistent frequency (20Hz) and latency with appropriate camera settings (Maximum throughput limit, ect...). The camera is connected to the PC on its own ethernet network.

However, when launching multiple other ROS nodes, I'm noticing a significant framerate drop (to about 6Hz) in the flir_camera_driver published topics. I get this behaviour even if the other ROS nodes are not subscribing to the actual image topics published by the driver. All other ROS topic are not affected.

Has anyone encountered a similar problem, and could give me a hint of the issue there?

Details:

• flir_camera_driver: 2.0.3
• Spinnaker SDK 2.7.0.128
• OS: Ubuntu 20.04 LTS (ROS Noetic)