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Did you try to compare on local computer when subscribing to RGB and depth images at the same time?

$ rostopic hz /camera/rgb/image_rect_color /camera/depth/depth_registered

On remote computer, without starting rtabmap, can you compare the frame rate between:

$ rostopic hz /rgbd_image/compressed

and

$ rostopic hz /camera/rgb/image_rect_color/theora /camera/depth/depth_registered/compressedDepth

ZED cameras use large images, which increases the bandwidth usage and also compression time on the local computer having the camera, thus affecting frame rate. Between the two approaches above, use the one having the highest frame rate. For more help, add info about how rtabmap is launched on the remote computer.

cheers,
Mathieu