# ROS2 speed

**URL:** <https://discourse.openrobotics.org/t/ros2-speed/20162>\
**Category:** ROS General\
**Tags:** ros2, foxy\
**Created:** [April 30, 2021, 1:25pm UTC](https://discourse.openrobotics.org/t/ros2-speed/20162 "2021-04-30T13:25:51Z")\
**Posts on this page:** 1\
**Showing post:** 23

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**Author:** ![gavanderhoorn](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gavanderhoorn/32/969_2.png) [@gavanderhoorn](https://discourse.openrobotics.org/u/gavanderhoorn)\
**Post date:** [October 15, 2021, 8:16am UTC](https://discourse.openrobotics.org/t/ros2-speed/20162/23 "2021-10-15T08:16:28Z")

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While it seems there are some approaches which mitigate / solve the immediate problem reported by @Bernd_Pfrommer, this observation is pretty spot-on:

> [@Bernd\_Pfrommer](#):
>
> **For me this is a real show stopper for ROS2 adoption.** I’m not saying this because I don’t like ROS, quite the opposite: the success of ROS hinges on the one of ROS2, and for ROS2 to succeed, **such blatant performance issues need to be sorted out _urgently_ . Preferably in a way that the developer/user does not have to become a RMW expert and tune a dozen parameters to get it to perform. ROS1 is exemplary when it comes to this (see above).**

I don’t have an easy fix, and I ~~fully~~ believe I understand _why_ things are the way they are in ROS 2 – and I also understand that making high-performance networking applications is still complex and needs lots of moving parts to do just the right things in the right way – but seeing what @codebot had to do to get to the performance of @Bernd_Pfrommer’s ‘naive’ ROS 1 implementation makes me sad.

It connects to [ROS2 Default Behavior (Wifi) - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/ros2-default-behavior-wifi/13460) and a few other threads we’ve had about the user experience of ROS 2 compared to ROS 1.

In this case a user actually reached out and asked what he could do better to improve things. In others, that never happens, and ROS 2 is discarded as not-ready, not performant enough or “even worse than ROS 1”.

(on the bright side: it’s consultancy heaven like this. People-in-the-know are in a very good position)

* * *

Edit: perhaps [ROS2 speed - #19 by codebot - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/ros2-speed/20162/19) and [ROS2 speed - #21 by codebot - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/ros2-speed/20162/21) should be turned into a guide in the ROS 2 documentation? Could be a good start for a performance-oriented set of patterns and/or a ROS 2 tuning guide.

It doesn’t seem like there is a lack of knowledge on these subjects. It just seems to be hidden in developer minds and collective experience in organisations.

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_[View the full topic](https://discourse.openrobotics.org/t/ros2-speed/20162)._