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It's impossible to know if you did something wrong without seeing some source code.

But I would guess that one of two things are happening:

Are you using a waitForTransform() call? If so, your transformations from base link to camera_depth_optical_frame could be taking too long to publish.
Your machine might not have enough processing power to transform the point cloud quickly. I've noticed performance problems with any point clouds over around 50,000 points.

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