rviz2 running with low fps (5fps)

[abdala-diasse]

I am currently running rviz2 with ros2 humble but my rviz is running very slowly compared to ros1 . With the same rviz config files rviz1 can run at 30fps but rviz2 can only run at 5pfs .

Can anyone help me with this issue

[Yadunund]

Please provide more information about your setup including

• OS version
• Whether you are using binaries or you've built ROS 2 Humble from source
• Link to a minimal repo with configs/instructions that allows us to reproduce the behavior

[abdala-diasse]

I am running RViz2 on Jetson AGX 32 GB with JP 6.0
I have tried with both binaries and from source but we still have the same issue

[abdala-diasse]

any feedback here

[RENyunfan]

Hi @Yadunund @sloretz , I have met the similar problem and some tests are presented below

rviz & rviz2 FPS Test

1. Testing Environment

• Operating System: Ubuntu 20.04
• CPU: 11th Gen Intel® Core™ i9-11900K @ 3.50GHz × 16
• GPU: NVIDIA GeForce RTX 3060/PCIe/SSE2 (NVIDIA Corporation)
• Memory: 62.6 GiB
• OpenGL: Version 3.6
• ROS 1: Noetic
• Rviz 1: Version 1.14.25
• ROS 2: Foxy
• Rviz 2: Latest version from [this GitHub repository](https://github.com/ros2/rviz/tree/foxy)

2. Problem Description

When I attempt to publish a point cloud in both Rviz1 and Rviz2, I observe significant differences in their performance:

• Rviz 1: Very smooth with an FPS of up to 500 Hz (when adjusting the frame rate).
• Rviz 2: Becomes completely unresponsive when I try to change the view by dragging the mouse.

I have verified that both Rviz1 and Rviz2 are using the GPU, as shown in the following logs:

1. Rviz 1 Output:

   [ INFO] [1737213454.623461674]: rviz version 1.14.25
   [ INFO] [1737213454.623501868]: compiled against Qt version 5.12.8
   [ INFO] [1737213454.623509635]: compiled against OGRE version 1.9.0 (Ghadamon)
   [ INFO] [1737213454.627971466]: Forcing OpenGl version 0.
   [ INFO] [1737213455.265363469]: Stereo is NOT SUPPORTED
   [ INFO] [1737213455.265403534]: OpenGL device: NVIDIA GeForce RTX 3060/PCIe/SSE2
   [ INFO] [1737213455.265414117]: OpenGl version: 4.6 (GLSL 4.6).

2. Rviz 2 Output: (The OpenGL Renderer device is obtained by slightly modify the source code)

   [INFO] [1737213896.198886037] [rviz2]: Stereo is NOT SUPPORTED
   [INFO] [1737213896.198984848] [rviz2]: OpenGL Vendor: NVIDIA Corporation
   OpenGL Renderer: NVIDIA GeForce RTX 3060/PCIe/SSE2
   OpenGL Version: 4.6.0 NVIDIA 470.256.02
   [INFO] [1737213896.198994700] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
   [INFO] [1737213896.275618870] [rviz2]: Stereo is NOT SUPPORTED
   

3. Reproduce the Issue

I have provided the necessary code and dataset to reproduce the issue on this Notion page. The resources include:

• Two Python scripts: one for ROS1 and one for ROS2
• A PCD file to serve as the dataset

I hope this helps in replicating the problem, and I look forward to your assistance.

[Yadunund]

I am running RViz2 on Jetson AGX 32 GB with JP 6.0
I have tried with both binaries and from source but we still have the same issue

@abdala-diasse Jetson AGX/JP6 is not a Tier-1 supported platform. See. It is hard to isolate the cause of the problem (it could be a bug in RViZ, or display manager in JP, or..etc). It would be great if you could reproduce the issue on a Tier-1 platform (eg. Ubuntu) with the latest Rolling. Please share a minimal script to run that leads to the issue.

@RENyunfan thanks for the additional details.

ROS 2: Foxy

Foxy has long been end-of-life. Could you try your example with the latest Rolling or Jazzy?

Rviz 2: Latest version from [this GitHub repository](https://github.com/ros2/rviz/tree/foxy)

Please specify how you installed ROS 2. Whether from source or installed via binaries.