[ROS2] Discussion about the differences between local and network subscribing

Next Generation ROS
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Hi all,
I made a simple benchmarking tool to analyze the frequency and bandwidth of topics in ROS2 and publish a statistic message to be plotted.
I noticed that there is a big difference when a topic is subscribed locally and over a network (cabled, not WiFi).
I publish here the plots of results for an image topic published at 15 Hz to open a discussion regarding the possible causes of the big difference between them. The ROS2 disto is Humble and the DDS is the default, FastRTPS.

Network:

network_stats
network_stats1810Ă—835 389 KB

Local:

local_stats
local_stats1810Ă—835 170 KB

Thank you for contributing…

Walter

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Can you please share a link to the tool you are using?

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Hi @clalancette
You can find the code in this public branch:

Naturally, every comment and feedback will be really appreciated.

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