It looks like there were several different issues discussed here. The ros2 topic issue seems to be a bug in the truncation of the output and printing to console is taking a very long time. This should be addressed by https://github.com/ros2/ros2cli/pull/126 The issue difference of FPS between C++ and Python that can be addressed by running the python interpreter in optimized mode: setting the environment variable `PYTHONOPTIMIZE=0` or passing `-O` to the python invocation. (related ROS answers post [here](https://answers.ros.org/question/296715/ros-image-message-rate-is-low/)) HTH, --- [Visit Topic](https://discourse.ros.org/t/image-and-pointcloud2-performance-on-ros2/5391/7) 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: