depth_image_proc publish rate is very low.
we have use the intel camera the inputs rate are the 28 fps, the opute of the depth_registered/camera_info rate is 0.31 fps. we have use the depth_image_proc ros package for this. we have use this command rosrun nodelet nodelet manager __name:=depth_image_proc
then for register depth image rosrun nodelet nodelet load depth_image_proc/register depth_image_proc __name:=nodelet1 rgb/camera_info:=/camera/color/camera_info depth/camera_info:=/camera/depth/camera_info depth/image_rect:=/camera/depth/image_rect_raw