Nice debugging. Out of curiousity, exactly how did you run operf (just so it is archived here for the future)?
I was wondering about that wl myself. The next time I have some time (probably next week), I might try this locally to see what happens when I’m hooked to ethernet instead of wifi. That would be interesting.
I also notice that there is ~10% going to memmove and memcpy, unaligned. I’m guessing if we could find a way to ensure that that is aligned, that would also be faster.
Other than those things, yeah, I’d say we’d have to concentrate on convert_ros_message_to_dds and see what we could improve there.