# Fiducial problem

**URL:** <https://forum.ubiquityrobotics.com/t/fiducial-problem/677>\
**Category:** General Questions\
**Created:** [December 2, 2020, 10:12am UTC](https://forum.ubiquityrobotics.com/t/fiducial-problem/677 "2020-12-02T10:12:32Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![aster](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/a/9e8a1a/32.png) [@aster](https://forum.ubiquityrobotics.com/u/aster)\
**Post date:** [December 2, 2020, 10:12am UTC](https://forum.ubiquityrobotics.com/t/fiducial-problem/677/1 "2020-12-02T10:12:32Z")

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Good Day everyone,

I have a few question regarding fiducial and its uses. I been tinkering with the fiducial sensor and I realize that it publish a lot of data within a short period of time.

My first question is, fiducial data from magni robots publishing a lot of data which interfere with my 2d lidar navigation response time and accuracy. When i use the joystick with and without fiducial print the data, I am able to clearly see the effect of latency. May i ask how do I merge both fiducial navigation and 2D lidar without suffering the lactency? because i want to reduce the chances of the robot losing its positioning in the event of a slip or the terrain is changed drastically that the robot lose its position. using fiducial to monitor its position and lidar to navigate. i am trying to make a stable navigation.

The second is, how do i reduce the frame rate of the fiducial. because I am trying to reduce the amount of data publishing from the robot, as this will decrease the processing require to done by the robot.

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**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\
**Post date:** [December 6, 2020, 7:23am UTC](https://forum.ubiquityrobotics.com/t/fiducial-problem/677/2 "2020-12-06T07:23:05Z")

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Are you running a Pi4 yet? It has more ‘suds’ and our recent images since feb of this year support Pi4. Fiducial processing is compute intensive.

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**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\
**Post date:** [December 6, 2020, 7:24am UTC](https://forum.ubiquityrobotics.com/t/fiducial-problem/677/3 "2020-12-06T07:24:02Z")

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Oh, on second question you reduce the rate of the frames from the raspicam in the raspicam parameters and that can slow down the processing of image topic.