Hello, I have been trying to publish ROS image messages at 20Hz from Unity to ROS (being run in a docker container). The first issue I encountered was the following (see snipped). Per the following post (Forum Post #1120414) for ROS packages versions above 0.4.0. the networking layer should be faster and able to handle heavy traffic. What I've tried: * increasing the buffer size and connections parameters in the server.py file in the ros_tcp_endpoint ROS package to buffer_size=4096, connections=10000 respectively. * increasing the k_DefaultPublisherQueueSize (ROSConnection.cs) line 61 to 1000 * the ROSConnection.cs has a ClearMessageQueue method that should take care of the problem The second problem is that the messages are not being received in docker at the same interval as they are being published. See example for when I tried at 2 hz.