Yeah, I've had performance issues as well. I was able to mostly work around it by disabling the color and IR cameras, and set the depth camera to 320x240. That gets me about 15 frames/sec with something like 100% CPU time, which is good enough for what I need at the moment. But we should really look into improving it. --- [Visit Topic](https://discourse.ros.org/t/astra-driver-for-ros2/1894/8) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: