ros1_bridge extremely slow when passing images

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Hello everyone,

I am using ros1_bridge to convert image messages coming from an Orbbec Astra from ROS1 to ROS2.

I have the following setup:

• robot-pc: running ROS Melodic directly connected to the Astra.
• remote-pc: connected via ethernet to the robot-pc. It runs ROS Noetic and ROS Foxy.

ros1_brige runs on the remote-pc. If I run rostopic echo directly on the remote-pc, image messages arrive at the expected frequency of 30 Hz, but as soon as they go through ros1_brige, the output frequency plummet to less than 1 Hz.

Am I missing something? Should I use some specific configuration when using larger messages? I couldn't find anything in the documentation.

Thanks