Cannot use setFeature() with RGBDSensorClient in `yarp-3.12.1`

[SimoneMic]

Describe the bug
When using the interface from RGBDSensorClient, it's not possible to change the camera parameters using the function: setFeature.
The goal is to change camera gain, exposure and hue, to compensate for eventual light conditions.

The funcion setFeature initially returns true. However, if the same code is ran using the python interpreter via console, this error appears asynchronously after some seconds: [ERROR] |yarp.os.impl.DgramTwoWayStream| *** 14 datagram packet(s) dropped - checksum error ***.
While viewing the camera output with a YarpView we see no changes in the camera rgb image.

In yarp 3.10 the same code was running fine, changing the camera output at runtime.

To Reproduce
Steps to reproduce the behavior:
0) Have a realsense device on a machine with yarp-devices-realsense2, with a running device in the like of this YRI.

1. Run this python code:

import yarp
 
props = yarp.Property()
props.put('device', 'RGBDSensorClient')
props.put('localImagePort', '/RealsenseGUI/rgbImage:i')
props.put('localDepthPort', '/RealsenseGUI/depthImage:i')
props.put('localRpcPort', '/RealsenseGUI/rpc:i')
 
props.put("remoteImagePort", "/depthCamera/rgbImage:o")
props.put("remoteDepthPort", "/depthCamera/depthImage:o")
props.put("remoteRpcPort", "/depthCamera/rpc:i")
 
driver = yarp.PolyDriver(props)
iface = driver.viewIFrameGrabberControls()
 
iface.setFeature(yarp.YARP_FEATURE_GAIN, 1.0)
 

note: both machine must have the same yarp-3.12.1

Expected behavior
In yarp-3.10 we were able to set the camera parameters properly.

Screenshots
none

Configuration (please complete the following information):

• OS: Ubuntu 22.04
• yarp version: 3.12.1
• compiler: Python package installed conda

Additional context
The issue happened when upgrading from yarp 3.10 to 3.12 on ergoCubSN002 robot.
cc @andrearosasco

[randaz81]

The error that you mention is not related, since:
[ERROR] |yarp.os.impl.DgramTwoWayStream| *** 14 datagram packet(s) dropped - checksum error ***.
means that you do not have enough bandwidth to transmit the image over a udp connection.
You should try to compress the image using a portmonitor + fast_tcp carrier.
The proper string should be set in the RGBDSensorClient sensor parameters:

• | | ImageCarrier | string | - | udp | No | Carrier for the image stream | - |
• | | DepthCarrier | string | - | udp | No | Carrier for the depth stream | - |

e.g.
props.put('ImageCarrier ', 'fast_tcp+compressorblabla')

Indeed 640x480x30x8*3= 220Mbit/s which is probably too much for the capabilities of your wifi connection (should be compressed to 10-20Mbit/s)