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If you are using the Raspberry Pi camera and not a USB camera, it is better to use this node: https://github.com/UbiquityRobotics/raspicam_node. This gave me really good speed.


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What camera are you using? It might be helpful to know since the driver might be at fault here. Also, any particular reason you are working with the cv_camera_node? usb_cam has worked much better for me in the past. It works with libusb rather than opencv which could also be a culprit here. In the end, you just get a sensor_msgs::Image with both packages. So ...


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