as posted in this post, we recently submitted a paper to ICRA focussing on latency entailed by ROS2. We profile the latency to pinpoint the bottleneck and to find potential improvements. Different parameters are varied, e.g.
- publisher frequency
- number of nodes
- DDS middleware
- msg size
Have a closer look at the preprint: https://arxiv.org/pdf/2101.02074.pdf