rosbridge (v1) suffers video delay over mjpeg_server

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Hello,

I'm running a rosbridge Version 1 application to teleop a robot (Pi Robot) over a wireless-g network. Everything works great except that the video stream (320x240 resolution from a Asus Xtion) always develops a noticeable delay within the first few minutes after loading the HTML5/rosbridge interface. Refreshing the web page always clears the delay for another few minutes until it creeps in again.

I never get the delay if I view just the video stream in a browser window using the mjpeg URL (http://192.168.0.193:8080/stream?topic=/camera/rgb/image_color). I only get the delay when I run the full rosbridge application which uses the same mjpeg URL.

My rosbridge application can be seen here but it's a work in progress.

Does anyone know a fix for this delay issue? And if it can't be fixed in Version 1 of rosbridge, does anyone know if it is fixed in Version 2? (I have a time crunch for this project so I have been putting off the transition.)

Thanks!
patrick

UPDATE: So I finally took the time to convert my rosbridge application to the Version 2 protocol and was sad to find that the delays with the video stream are even worse than with Version 1. I tried my application under both Fuerte and Groovy with the appropriate Debian rosbridge packages (rosbridge_suite for Fuerte and rosbridge_server for Groovy) and both gave much worse results than using rosbridge v1. In fact, the video stream tended to freeze up entirely every 15-30 seconds. Going back to the rosbridge v1 of my application produced immediately better results with the exact same hardware setup. Very odd.