I should be a little more clear that I am running all of this on a Pine 64 board (https://pine64.org), so it won't be as fast as on an Intel chip. That being said, I don't really know how much CPU time this should take up. My feeling is that there is room for improvement both in the astra driver and in depth_to_pointcloud, but I haven't profiled to find out where the bottlenecks are. Before I went all the way to a GPU, I would profile, find the problem points, and try to optimize those first (this could be as simple as building with optimization and/or NEON turned on, neither of which I'm doing at the moment). --- [Visit Topic](https://discourse.ros.org/t/astra-driver-for-ros2/1894/10) 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: