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I've found out that the problem is not in the way i write the code. The problem is residing in the "grabber node". It is a node that grabs a frame from the web cam and then publishes it. It is publishing at a rate of 15hz. The same happens if i use gscam, it also publishes at 15hz. Could this be something wrong with the embedded webcam in my notebook? . Using guvcview i can se that its FPS is 30. the video flow does not seem to be low, could ros be calculating it wrong? i don't know what is happening here. Even it the flow seems right, and even if i can do what i would like with it, i don't want to lose these frames. Any idea?