I’ve been playing around with ROS2 quite a lot recently and I have to say, that it’s amazing. I have an application running on ROS1 Noetic, which requires some of the nodes to publish data at a relatively high frequency (700Hz). Everything works fine.
I wanted to port this software to ROS2, but before I did that, I simply tested the maximum frequency of simple publishers, which only publish the “Hello world” message in the String std message. What I’ve noticed is that if I use the ROS1 publisher, I can publish this data with a maximum frequency of 9000 Hz, if I test the same publisher with ROS2, the frequency gets no higher that 1000 Hz. This concerns me, because I really need the aforementioned nodes to publish data really fast.
The question is: Is ROS2 slower than ROS1 or is there something I’m missing?
Thank you guys for your answers in advance