Low simulated RealSense sensor publish rate in MRS Simulation

[MJavadZallaghi]

Dear MRS team, I've a simulation with t650 robot. I have enabled the front RealSense sensor with the flag --enable-realsense-front for the spawn service in the tmux script. I noticed a low publish rate for this sensor:

• ~ 1.7 Hz for depth frame:
  
• ~ 1.7 Hz for color image:
  
  But in spawner_params.yaml file of MRS, I see the publish rate should be 30 Hz:

enable_realsense_front: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed forward,d placed on the front holder between the legs', [f330, f450, f550, t650, x500, brus, naki]]

Any hint or idea for solving this issue? I need more than 20 Hz at least for performing correct autonomous flight with this sensor. Thank you in advance for your help!

[MJavadZallaghi]

Restarted my computer and obtained an increase to 15 Hz:

Still not 30 Hz, but probably enough for my simulation. So I consider to have my answer (a restart for making memory and CPU available) but If there is further hint on why it's not still 30 Hz, please feel free to give me your opinion! :)