Is FastDDS (default config) totally unusable for simulation with rclpy?

[Rayman]

I think these two older topics might be of interest to you. The first one talks about publishing high rate topics.

ROS2 speed

I’m currently developing a ROS2 driver for an event based camera. The sensor publishes data at very high rates (1khz) and fairly large messages (80kb). Wrote the driver in ROS1: works like a charm. Wrote it for ROS2 (Galactic on Ubuntu): terrible performance. This is not my first bout with ROS2. I’ve gotten a bloody nose when trying to write ROS2 drivers for other sensors as well. RMW performance was terrible (back then under Eloquent) and I couldn’t figure out what was going on. Before comp…

ROS2 Default Behavior (Wifi)

tl;dr: ROS2-Wifi default setup is not great and gives a bad experience to users without a strong DDS/networking background. Hi all, If you don’t know me, I play around with mobile robots over in Navigation2 and related projects. This is a little long-winded because I wanted to be thorough, feel free to skim. The majority of folks involved in ROS2 have been jack of all trades, ROS-specific developers, or large companies with resources. As such, its been unideal but relatively unavoidable that a…

All these issues disappear when you switch to Zenoh, so I hope the default ROS middleware will be switched someday.