Low Frame Rate When Running D455 or D435 with Dell Precision 7780

[YHuniv]

Hi,

Running D455or/and D43 works well in my Jetson Orin NX and other laptop.
I tried to use bought camera with Dell Precision 7780 (NVIDIA RTX 5000) Laptop system certified with Ubuntu and I am facing low frame rate problem.

`
ros2 launch realsense2_camera rs_launch.py
[INFO] [launch]: All log files can be found below /home/vplatform/.ros/log/2025-10-06-11-04-38-822263-vplatform-7780-7769
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [7770]
[realsense2_camera_node-1] [INFO] [1759741478.997407671] [camera.camera]: RealSense ROS v4.56.4
[realsense2_camera_node-1] [INFO] [1759741478.997475200] [camera.camera]: Built with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1759741478.997479563] [camera.camera]: Running with LibRealSense v2.56.4
[realsense2_camera_node-1] 06/10 11:04:38,997 WARNING [128501560628800] (backend-hid.cpp:1285) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[realsense2_camera_node-1] 06/10 11:04:38,997 WARNING [128501560628800] (backend-hid.cpp:1285) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.2.auto
[realsense2_camera_node-1] [INFO] [1759741479.004938114] [camera.camera]: Device with serial number 231522070437 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1759741479.004982832] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2 was found.
[realsense2_camera_node-1] [INFO] [1759741479.004995952] [camera.camera]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1759741479.005083682] [camera.camera]: Device with port number 2-1 was found.
[realsense2_camera_node-1] [INFO] [1759741479.005089683] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1759741479.005121194] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1759741479.005196704] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1759741479.005201828] [camera.camera]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1759741479.005205107] [camera.camera]: Device Serial No: 231522070437
[realsense2_camera_node-1] [INFO] [1759741479.005215596] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2
[realsense2_camera_node-1] [INFO] [1759741479.005219863] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1759741479.005223809] [camera.camera]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1759741479.005226932] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1759741479.085875104] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1759741479.086098506] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1759741479.090745124] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 640x480x30
[realsense2_camera_node-1] [INFO] [1759741479.092036261] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1759741479.092117463] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1759741479.093861796] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1759741479.095081790] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1759741479.126806370] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1759741479.127790643] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1759741479.130148640] [camera.camera]: RealSense Node Is Up!
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[realsense2_camera_node-1] [INFO] [1759741502.897986415] [rclcpp]: signal_handler(signum=2)
[realsense2_camera_node-1] [INFO] [1759741502.898705129] [camera.camera]: Stop Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1759741502.898720774] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1759741502.900513460] [camera.camera]: Close Sensor - Done.
[realsense2_camera_node-1] [INFO] [1759741502.900529362] [camera.camera]: Stop Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1759741502.900536048] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1759741503.589861370] [camera.camera]: Close Sensor - Done.

`

I tried the 5 usb port (2 usb A eand 3 usbc ), the FPS is low and change everytime.

`
ros2 topic hz /camera/camera/color/image_raw
WARNING: topic [/camera/camera/color/image_raw] does not appear to be published yet
average rate: 1.090
min: 0.033s max: 3.536s std dev: 1.51197s window: 4
average rate: 0.779
min: 0.033s max: 3.736s std dev: 1.66654s window: 6
average rate: 1.488
min: 0.033s max: 3.736s std dev: 1.23528s window: 14
^Cvplatform@vplatform-7780:$ ros2 topic hz /camera/camera/color/image_raw
average rate: 17.791
min: 0.033s max: 0.134s std dev: 0.03089s window: 19
average rate: 16.605
min: 0.033s max: 0.234s std dev: 0.04155s window: 36
average rate: 14.517
min: 0.033s max: 0.634s std dev: 0.09241s window: 46
average rate: 15.339
min: 0.033s max: 0.634s std dev: 0.08181s window: 66
average rate: 15.461
min: 0.033s max: 0.634s std dev: 0.07539s window: 82
average rate: 16.338
min: 0.033s max: 0.634s std dev: 0.06882s window: 103
average rate: 11.191
min: 0.033s max: 3.202s std dev: 0.30696s window: 109
average rate: 12.662
min: 0.033s max: 3.202s std dev: 0.27567s window: 136
average rate: 11.513
min: 0.033s max: 3.202s std dev: 0.30350s window: 154
average rate: 9.430
min: 0.033s max: 3.202s std dev: 0.37126s window: 162
^Cvplatform@vplatform-7780:$ ros2 topic hz /camera/camera/color/image_raw
average rate: 1.249
min: 0.033s max: 2.502s std dev: 1.01244s window: 4
average rate: 4.106
min: 0.033s max: 2.502s std dev: 0.58559s window: 20
average rate: 5.931
min: 0.033s max: 2.502s std dev: 0.44523s window: 37
average rate: 4.827
min: 0.033s max: 2.502s std dev: 0.49807s window: 38
^Cvplatform@vplatform-7780:$ ros2 topic hz /camera/camera/color/image_raw
WARNING: topic [/camera/camera/color/image_raw] does not appear to be published yet
average rate: 15.932
min: 0.033s max: 0.200s std dev: 0.04976s window: 17
average rate: 13.191
min: 0.033s max: 0.467s std dev: 0.10304s window: 33
average rate: 13.706
min: 0.033s max: 0.467s std dev: 0.09770s window: 48
average rate: 12.911
min: 0.033s max: 0.534s std dev: 0.10878s window: 59
average rate: 9.993
min: 0.033s max: 1.434s std dev: 0.20449s window: 60
average rate: 9.035
min: 0.033s max: 1.434s std dev: 0.22063s window: 66
average rate: 8.480
min: 0.033s max: 1.434s std dev: 0.22984s window: 71
^Cvplatform@vplatform-7780:$ ros2 topic hz /camera/camera/color/image_raw
average rate: 19.344
min: 0.033s max: 0.233s std dev: 0.04654s window: 20
average rate: 18.374
min: 0.033s max: 0.233s std dev: 0.04492s window: 38
average rate: 15.602
min: 0.033s max: 0.634s std dev: 0.09030s window: 51
average rate: 14.874
min: 0.033s max: 0.634s std dev: 0.09335s window: 64
average rate: 13.577
min: 0.033s max: 0.634s std dev: 0.10420s window: 77
average rate: 12.141
min: 0.033s max: 0.901s std dev: 0.13695s window: 81
average rate: 11.706
min: 0.033s max: 1.501s std dev: 0.18306s window: 107
average rate: 12.167
min: 0.033s max: 1.501s std dev: 0.17080s window: 125
average rate: 12.469
min: 0.033s max: 1.501s std dev: 0.16197s window: 141
average rate: 13.161
min: 0.033s max: 1.501s std dev: 0.15175s window: 162
average rate: 13.599
min: 0.033s max: 1.501s std dev: 0.14397s window: 181
average rate: 12.790
min: 0.033s max: 1.501s std dev: 0.15750s window: 189

`

Any idea on how to resolve this ? thank by advance

[MartyG-RealSense]

Hi @YHuniv Does performance improve if you reset the camera at launch?

ros2 launch realsense2_camera rs_launch.py initial_reset:=true

If a reset does not make a difference, do you still experience the low FPS if you launch with ros2 run instead of ros2 launch?

ros2 run realsense2_camera realsense2_camera_node

Are your laptop and Jetson also using version 2.56.4 of the librealsense SDK? I note that you are using firmware version 5.16.0.1 but the recommended firmware for 2.56.4 is 5.17.0.9

[YHuniv]

Thank you @MartyG-RealSense.
Yes, I am still facing same problem.

For other laptop and Jeston, I have 2.56.4 and 2.55.1 (configuration isaac ros 2.55.1 sdk and relsese/4.51.1-isaac ros2).

I tried bought configuration and installation from source and apt , but it din't resolve the issue. For firmware, I have 5.17.0.10 for the D55.

`
ros2 run realsense2_camera realsense2_camera_node
[INFO] [1759751356.650929422] [camera.camera]: RealSense ROS v4.56.4
[INFO] [1759751356.650986439] [camera.camera]: Built with LibRealSense v2.56.4
[INFO] [1759751356.650991782] [camera.camera]: Running with LibRealSense v2.56.4
06/10 13:49:16,651 WARNING [137254167107136] (backend-hid.cpp:1285) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
06/10 13:49:16,651 WARNING [137254167107136] (backend-hid.cpp:1285) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.2.auto
06/10 13:49:16,726 WARNING [137254167107136] (backend-hid.cpp:1285) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
06/10 13:49:16,726 WARNING [137254167107136] (backend-hid.cpp:1285) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.2.auto
[INFO] [1759751356.727287041] [camera.camera]: Device with serial number 234222303822 was found.

[INFO] [1759751356.727311417] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-4/2-4:1.0/video4linux/video2 was found.
[INFO] [1759751356.727315711] [camera.camera]: Device with name Intel RealSense D455 was found.
[INFO] [1759751356.727432562] [camera.camera]: Device with port number 2-4 was found.
[INFO] [1759751356.727437902] [camera.camera]: Device USB type: 3.2
[INFO] [1759751356.727463580] [camera.camera]: getParameters...
[INFO] [1759751356.727549805] [camera.camera]: JSON file is not provided
[INFO] [1759751356.727554302] [camera.camera]: Device Name: Intel RealSense D455
[INFO] [1759751356.727557842] [camera.camera]: Device Serial No: 234222303822
[INFO] [1759751356.727561137] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-4/2-4:1.0/video4linux/video2
[INFO] [1759751356.727565311] [camera.camera]: Device FW version: 5.17.0.10
[INFO] [1759751356.727568823] [camera.camera]: Device Product ID: 0x0B5C
[INFO] [1759751356.727599370] [camera.camera]: Sync Mode: Off
[INFO] [1759751356.821098604] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1759751356.821152385] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1759751356.821162351] [camera.camera]: Stopping Sensor: Motion Module
[INFO] [1759751356.825029849] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1759751356.831019856] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1759751356.831059594] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1759751356.831064756] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[INFO] [1759751356.951895776] [camera.camera]: Starting Sensor: RGB Camera
[INFO] [1759751356.955169755] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
06/10 13:49:16,962 WARNING [137254167107136] (ds-calib-parsers.cpp:36) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[INFO] [1759751356.963378951] [camera.camera]: Starting Sensor: Motion Module
[INFO] [1759751356.974234188] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100
[INFO] [1759751356.974253717] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[INFO] [1759751356.977146898] [camera.camera]: RealSense Node Is Up!
^C[INFO] [1759751378.722183458] [rclcpp]: signal_handler(signum=2)
[INFO] [1759751378.722788970] [camera.camera]: Stop Sensor: Depth Module
[INFO] [1759751378.722810557] [camera.camera]: Close Sensor.
[INFO] [1759751378.840509062] [camera.camera]: Close Sensor - Done.
[INFO] [1759751378.840524557] [camera.camera]: Stop Sensor: RGB Camera
[INFO] [1759751378.840527638] [camera.camera]: Close Sensor.
[INFO] [1759751378.841811886] [camera.camera]: Close Sensor - Done.
[INFO] [1759751378.841825234] [camera.camera]: Stop Sensor: Motion Module
[INFO] [1759751378.842069530] [camera.camera]: Close Sensor.
[INFO] [1759751379.531270031] [camera.camera]: Close Sensor - Done.

`
secure boot =disabled

[YHuniv]

to complete with realsense-viewer it works fine, around 30 fps

[MartyG-RealSense]

I note that you have a consistently occurring Failed to read busnum/devnum error in your logs. This is a rare error that usually occurs when insufficient power is being provided to the camera by the computer's USB ports. In that situation, if a problem is caused by low USB port power then the only solution may be to use a mains electricity powered USB 3 hub so that the cameras are powered by the mains electricity socket instead of the computer's power supply.

Edit: thanks very much for your update about how realsense-viewer performs fine. That reduces the likelihood that it is a USB port power problem.

Let's test whether your FPS problem is related to the color stream. Please use the launch command below to only enable depth and see whether its FPS still lags.

ros2 launch realsense2_camera rs_launch.py enable_depth:=true enable_color:=false

[YHuniv]

ros2 launch realsense2_camera rs_launch.py enable_depth:=true enable_color:=false same.

Using ros2 launch realsense2_camera rs_launch.py enable_infra1:=true enable_infra2:=true infra_rgb:=false publish_tf:=false depth_module.profile:=640x480x30 infra_module.profile:=640x480x30

Infra 1 & 2 are good, around 30 fps, so the problem is with depth and color only.

ros2 topic hz /camera/camera/infra2/image_rect_raw average rate: 29.981 min: 0.033s max: 0.034s std dev: 0.00022s window: 31 average rate: 29.971 min: 0.033s max: 0.034s std dev: 0.00025s window: 61 average rate: 29.969 min: 0.033s max: 0.034s std dev: 0.00023s window: 91

[MartyG-RealSense]

Okay, next please try disabling the RGB option auto_exposure_priority as doing so should force depth and color to try to maintain a constant FPS rate instead of being permitted to lag.

ros2 launch realsense2_camera rs_launch.py rgb_camera.auto_exposure_priority:=false

[YHuniv]

Topic color : around 26/27 FPS
Topic depth : around 28/29 FPS

[MartyG-RealSense]

That sounds a lot better. You may be able to get a little closer to 30 FPS if you set a low resolution.

ros2 launch realsense2_camera rs_launch.py rgb_camera.auto_exposure_priority:=false depth_module.depth_profile:=640x480x30 rgb_camera.color_profile:=640x480x30

[MartyG-RealSense]

Hi @YHuniv Do you require further assistance with this case, please? Thanks!

[YHuniv]

Hi @MartyG-RealSense , thanks fos asking.
The issue is not resolved yet with my Dell 7780.

I am working with my Jetson Orin NX now...it seems better.

[MartyG-RealSense]

Thanks very much for the update.

I researched past RealSense cases involving Dell Precision laptops and found a case from 2022 involving a user who had the 7740 model and similarly experienced slow performance even though it was a high-spec computer.

https://support.realsenseai.com/hc/en-us/community/posts/7630521442451

[MartyG-RealSense]

Hi @YHuniv Do you require further assistance with this case, please? Thanks!

[YHuniv]

Hi @MartyG-RealSense Thank you so much.
I am still using the Jetson and dint tried on Dell again, but we can close thos issue. THan you again.