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Are you getting the output by calling the assemble_scans2 service in custom code? If so, the assembler only aggregates the clouds in the buffer--at most 2 in your case--at the time you call the service. Therefore, you'll only get clouds as often as you call the service. If you happen to be calling the service at exactly half the frequency of the input clouds, you'll get half the original number of messages; however, if the service calls are slower, you'll get fewer. There's also the possibility that there aren't any scans in the buffer during a call, but the default cache length (tf_cache_time_secs) is 10 seconds, so that seems unlikely.