BUG: <Please write a comprehensive title after the 'BUG: ' prefix>

[roboticshard]

Issue description

ROS2 Frame rate is not same with Pylon Viewer for USB Basler Camera. As a default I can get max frame rate within Pylon Viewer. When I use ROS2 , I could not grab max frame rate. Which parameter should I arrange for achieve max frame rate?

Code example about how to reproduce the issue

Camera parameters

/**:
ros__parameters:

#  The tf frame under which the images were published
camera_frame: pylon_camera

#  The DeviceUserID of the camera. If empty, the first camera found in the
#  device list will be used
device_user_id: ""

#  The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic
#  camera calibration parameters are stored. This URL string will be parsed
#  from the ROS-CameraInfoManager:
camera_info_url: ""

#  The encoding of the pixels -- channel meaning, ordering, size
#  taken from the list of strings in include/sensor_msgs/image_encodings.h
#  The supported encodings are 'mono8', 'bgr8', 'rgb8', 'bayer_bggr8',
#  'bayer_gbrg8' and 'bayer_rggb8'
#  Default values are 'mono8' and 'rgb8'
image_encoding: "bayer_rggb8"

#  Binning factor to get downsampled images. It refers here to any camera
#  setting which combines rectangular neighborhoods of pixels into larger
#  "super-pixels." It reduces the resolution of the output image to
#  (width / binning_x) x (height / binning_y).
#  The default values binning_x = binning_y = 0 are considered the same
#  as binning_x = binning_y = 1 (no subsampling).
# binning_x: 1
# binning_y: 1

#  The desired publisher frame rate if listening to the topics.
#  This parameter can only be set once at startup
#  Calling the GrabImages-Action can result in a higher framerate
frame_rate: 20.0
trigger_timeout: 10  # in ms
grab_timeout: 200  # in ms
grab_strategy : 2
#white_balance_auto : 2

#  Mode of camera's shutter.
#  The supported modes are "rolling", "global" and "global_reset"
#  Default value is "" (empty) means default_shutter_mode
shutter_mode: "global"

##########################################################################
######################## Image Intensity Settings ########################
##########################################################################
# The following settings do *NOT* have to be set. Each camera has default
# values which provide an automatic image adjustment resulting in valid
# images
##########################################################################

#  The exposure time in microseconds to be set after opening the camera.
exposure: 100000.0

#  The target gain in percent of the maximal value the camera supports
#  For USB cameras, the gain is in dB, for GigE cameras it is given in so
#  called 'device specific units'.
# gain: 0.0

#  Gamma correction of pixel intensity.
#  Adjusts the brightness of the pixel values output by the camera's sensor
#  to account for a non-linearity in the human perception of brightness or
#  of the display system (such as CRT).
# gamma: 0.0

#  The average intensity value of the images. It depends the exposure time
#  as well as the gain setting. If 'exposure' is provided, the interface will
#  try to reach the desired brightness by only varying the gain. (What may
#  often fail, because the range of possible exposure vaules is many
#  times higher than the gain range). If 'gain' is provided, the interface will
#  try to reach the desired brightness by only varying the exposure time. If
#  gain AND exposure are given, it is not possible to reach the brightness,
#  because both are assumed to be fix.
brightness: 100

#  Only relevant, if 'brightness' is set:
#  The brightness_continuous flag controls the auto brightness function.
#  If it is set to false, the brightness will only be reached once.
#  Hence changing light conditions lead to changing brightness values.
#  If it is set to true, the given brightness will be reached continuously,
#  trying to adapt to changing light conditions. This is only possible for
#  values in the possible auto range of the pylon API which is e.g., [50 - 205]
#  for acA2500-14um and acA1920-40gm
brightness_continuous: false

#  Only relevant, if 'brightness' is set:
#  If the camera should try to reach and / or keep the brightness, hence
#  adapting to changing light conditions, at least one of the following flags
#  must be set.
#  If both are set, the interface will use the profile that tries to keep the
#  gain at minimum to reduce white noise.
#  The exposure_auto flag indicates, that the desired brightness will be
#  reached by adapting the exposure time.
#  The gain_auto flag indicates, that the desired brightness will be
#  reached by adapting the gain.
exposure_auto: true
gain_auto: false

##########################################################################

#  The timeout while searching the exposure which is connected to the
#  desired brightness. For slow system this has to be increased.
# exposure_search_timeout: 5.0

#  The exposure search can be limited with an upper bound. This is to prevent
#  very high exposure times and resulting timeouts.
#  A typical value for this upper bound is ~2000000us.
#  Beware that this upper limit is only set if `startup_user_set` is set to `Default`.
# auto_exposure_upper_limit: 2000000.0

#  The MTU size. Only used for GigE cameras.
#  To prevent lost frames configure the camera has to be configured
#  with the MTU size the network card supports. A value greater 3000
#  should be good (1500 for single-board computer)
# gige:
#  mtu_size: 3000

#  Only used for GigE cameras.
#  The inter-package delay in ticks to prevent lost frames.
#  For most of GigE cameras, a value of 1000 is reasonable.
#  For cameras used on a single-board computer this value should be set to 11772.
# gige:
#  inter_pkg_delay: 1000

#  Only used for GigE cameras.
#  The frame transmission delay in ticks.
#  In most cases, this parameter should be set to 0.
#  However, if your network hardware can't handle spikes in network traffic
#  (e.g., if you are triggering multiple camera simultaneously),
#  you can use the frame transmission delay parameter to stagger the
#  start of image data transmissions from each camera.
# gige:
#  frame_transmission_delay: 0

Error message

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [pylon_ros2_camera_wrapper-1]: process started with pid [198702]
[pylon_ros2_camera_wrapper-1] 1731062155.644910113 [basler.pylon.ros2.pylon_ros2_camera_parameter] [INFO] Autoflash: 0, line2: 1, line3: 1
[pylon_ros2_camera_wrapper-1] 1731062155.644997841 [basler.pylon.ros2.pylon_ros2_camera_parameter] [INFO] No Device User ID set -> Will connect the first available camera device
[pylon_ros2_camera_wrapper-1] 1731062157.425938633 [basler.pylon.ros2.pylon_ros2_camera] [INFO] Found camera device! Device Model: a2A5320-23ucBAS with Device User Id: 
[pylon_ros2_camera_wrapper-1] 1731062157.856110144 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] No user id for the camera has been set
[pylon_ros2_camera_wrapper-1] 1731062157.928216417 [basler.pylon.ros2.pylon_ros2_usb_camera] [INFO] Startup user profile set to ""
[pylon_ros2_camera_wrapper-1] 1731062157.928246749 [basler.pylon.ros2.pylon_ros2_usb_camera] [WARN] Unsupported startup user profile "", ignoring
[pylon_ros2_camera_wrapper-1] 1731062157.928266376 [basler.pylon.ros2.pylon_ros2_usb_camera] [INFO] CurrentSetting loaded
[pylon_ros2_camera_wrapper-1] 1731062158.153981251 [basler.pylon.ros2.pylon_ros2_camera_node] [WARN] [] name not valid for camera_info_manager
[pylon_ros2_camera_wrapper-1] 1731062158.154101603 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] CameraInfoURL needed for rectification! ROS2-Param: '/my_camera/camera_info_url' = '' is invalid!
[pylon_ros2_camera_wrapper-1] 1731062158.154107108 [basler.pylon.ros2.pylon_ros2_camera_node] [DEBUG] CameraInfoURL should have following style: 'file:///full/path/to/local/file.yaml' or 'package://<package_name>/relative/path/to/file.yaml'
[pylon_ros2_camera_wrapper-1] 1731062158.154109985 [basler.pylon.ros2.pylon_ros2_camera_node] [WARN] Will only provide distorted /image_raw images!
[pylon_ros2_camera_wrapper-1] 1731062158.154114672 [basler.pylon.ros2.pylon_ros2_camera_base] [WARN] Camera does not support binning (X). Will keep the current settings.
[pylon_ros2_camera_wrapper-1] 1731062158.154175101 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Setting horizontal binning_x to 1
[pylon_ros2_camera_wrapper-1] 1731062158.154193942 [basler.pylon.ros2.pylon_ros2_camera_base] [WARN] Camera does not support binning (Y). Will keep the current settings.
[pylon_ros2_camera_wrapper-1] 1731062158.154240629 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Setting vertical binning_y to 1
[pylon_ros2_camera_wrapper-1] 1731062158.156663562 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Attempted to set exposure to 100000, reached: 100000
[pylon_ros2_camera_wrapper-1] 1731062158.307642849 [basler.pylon.ros2.pylon_ros2_camera_node] [DEBUG] New brightness request for target brightness 100, current brightness = 2.92796
[pylon_ros2_camera_wrapper-1] 1731062163.519944926 [basler.pylon.ros2.pylon_ros2_camera_node] [WARN] Did not reach the target brightness before timeout of 5 sec! Stuck at brightness 2.96527 and exposure 100000µs
[pylon_ros2_camera_wrapper-1] 1731062163.520025358 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Attempted to set brightness to: 100, reached: 2
[pylon_ros2_camera_wrapper-1] 1731062163.522799996 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Startup settings: encoding = 'bayer_rggb8', binning = [1, 1], exposure = 100000, gain = 0.5, gamma = 1, shutter mode = global
[pylon_ros2_camera_wrapper-1] 1731062163.523509303 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Desired framerate 20.00 is higher than max possible. Will limit framerate to: 9.98 Hz
[pylon_ros2_camera_wrapper-1] 1731062163.523875765 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Start image grabbing if node connects to topic with a spinning rate of: 9.98213 Hz
[pylon_ros2_camera_wrapper-1] 1731062163.624401800 [basler.pylon.ros2.pylon_ros2_camera_node] [INFO] Camera not calibrated

Hardware setup description

CPU x86
Linux
ROS2

Runtime information

Unfourtanely, I didnt get max frame rate by using ROS2.

Is your camera operational with the Basler pylon Viewer on your platform?

Yes