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I agree with @lucasw. theora is a video codec, and the default config for these codecs tend to prioritize image quality over low latency. I have not used this theora plugin, but have used other similar video codecs.

If you want smaller end-to-end latency, try this: use keyframes more often, use variable bitrate, and use worse image quality (note: the wiki doesn't tell us if that means you should configure a higher or lower numeric value; usually it's a higher numeric value.)

http://wiki.ros.org/theora_image_transport

Just be aware that, in terms of end-to-end latency with compression, you are unlikely to do better than compressed_image_codec.

I agree with @lucasw. theora is a video codec, and the default config for these codecs tend to prioritize image quality over low latency. I have not used this theora plugin, but have used other similar video codecs.

If you want smaller end-to-end latency, try this: use keyframes more often, use variable bitrate, and use worse image quality (note: the wiki doesn't tell us if that means you should configure a higher or lower numeric value; usually it's a higher numeric value.)

http://wiki.ros.org/theora_image_transport

Just be aware that, in terms of end-to-end latency with compression, you are unlikely to do better than compressed_image_codeccompressed_image_transport.