Ros-Bridge has major performance issue

[Emilio-90]

Using a realistic sensor setup including a state of the art Lidar it becomes very clear that there is no real time simulation possible with CARLA using the ROS. And it becomes very clear that the ros-bridge here is the bottleneck.

So why is there not a native solution or at least a C++ ros bridge? Are there any plans to do that ? Deadlines? I would also be glad to help on that