Ran the code in composition mode (both depth_to_pointcloud and astra_driver as libs, using UniquePtr to pass the Image), and that didn't seem to make much difference. Switched back to 2-node mode, and connected via Ethernet instead of Wifi (disabled Wifi, connected a dummy cable to another machine in the lab), and the performance was way better. So clearly that ~40% on `wl` was getting in the way. --- [Visit Topic](https://discourse.ros.org/t/astra-driver-for-ros2/1894/16) 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: