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The problem is related to the compressedDepth png compression level which is set by default to 9. We get 3-4 Hz in the default configuration.

I manage to get 30 fps (full framerate) by setting the png_level parameter to 4 as follows:

<param name="/camera/depth/image_raw/compressedDepth/png_level" type="int" value="4" />

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