Image Desynchronization and High CPU Usage when Running STag ROS Node with Multiple Synchronized Cameras

[AntoineGerardeaux]

Hello,

I'm using four cameras synchronized via pylon-ros. When I record from these four cameras into a bag file, the images are properly synchronized. However, when I also launch the stag_ros nodes, I observe two issues:

CPU resource utilization increases significantly (see attached image).
The images become desynchronized in my rosbag.

Configuration:
Here are the parameters for one of the cameras as an example:

Launch file:

I would appreciate any insights into why the stag_ros nodes are causing these issues and how to resolve them while maintaining synchronization across all four cameras.