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?
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