Hi @eboasson
There is a similar Fast DDS Humble Middleware Report and the corresponding Open Robotics ROS Middleware Evaluation Report.
Based on these reports the ROS2 TSC voted and selected Fast DDS as the default middleware for humble.
During the last years there has been a race on performance. The Fast DDS team didn’t choose these metrics, and personally, I would have preferred other criteria such as features and documentation and I still think the same, but we took the gauntlet and now performance is part of our DNA. That is why we run these performance tests (and more) every night in our CI, to compare our performance with previous commits and releases of Fast DDS and also with other DDS implementations.
I don’t want to start a flame war with you guys: The framework to reproduce these tests is very public and any user can run the same tests we are showing here.