BUG: Blaze low frame rate until trigger mode is toggled

[Srijal97]

Issue description

Blaze 101 camera produces low FPS (about 7 to 9) when frame rate is set much higher to 20. This was checked using rqt_topic while the images where displayed on rqt_image_view:

The other issues related to low FPS on this repository seem to not apply to Blaze. However, I found that if I call the service /my_blaze/pylon_ros2_camera_node/set_trigger_mode with False and then again with True, the frame rate issue is fixed and I now get the full 20 FPS:

The service calls were performed using rqt_service_caller.

Not sure why happens and if there a way to change a parameter that would get me full 20 FPS right from the start. For now, I perform these service calls after camera startup to bypass this issue.

Code example about how to reproduce the issue

Launch ros2 launch pylon_ros2_camera_wrapper my_blaze.launch.py
Subscribe to image topic within rqt_image_view.
View frame rate using rqt_topic

Error message

No response

Hardware setup description

Ubuntu 22.04 running on WSL2 in Windows 11
Camera connected directly to host comupter
Pylon 7.5.0
Supplementary Package for Blaze 1.6.0
Blaze firmware 5.1.0

Runtime information

Launch configuration `my_blaze.yaml`

/**:
  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: blaze_balto

    enable_current_params_publisher: true  # This does not have an effect to FPS for Blaze

    #  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

    ##########################################################################
    ######################## 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: 250.0

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

    # Grab timeout
    grab_timeout: 1000

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

Yes