Ouch. I did the same thing as you, and I was getting 30 fps from the driver. (although this was all going through the ROS2 dynamic_bridge, so there may be some lag). The depth_to_pointcloud node drops that in half to ~15 fps for the PointCloud message. That surprises me. Is that conversion computation really that time consuming? Maybe we can make it faster using GPUs? --- [Visit Topic](https://discourse.ros.org/t/astra-driver-for-ros2/1894/9) 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: