Lightening the Create3 CPU Load With Discovery Server Isolation?

[slowrunner]

Has anyone solved the Create3 CPU "overloading" when running a lot of nodes on the compute board?

(I'm running ros_depthai_driver with the Oak-D-Lite camera feeding RTABmap, and the Create3 maxes out with stuttering response. I have a single FastDDS Discovery Server but thinking I need to configure a second and create a "C3Interface sub/pub".)

I'm wondering if anyone has taken this approach and their result?

[slowrunner]

Abandoned the dual discovery server approach. Create3 H2.6 firmware gets closer but still periodic 10 second "seizures" when running Oak-D-Light with depthai_ros_driver and RTABmap.