I used the Persee and ROS to output RGBD (640x480 @ 30 FPS) and the data rate is 64 MB/s. That is a lot to push through the network. Also the CPU is at 75%.
I can change the resolution and frame rate on the RGB camera. However, the depth camera's resolution and frame rate can't be changed. Is it possible to change the depth camera's settings to 320 x 240 @ 15 FPS?