You're right about the initialization time. On startup, `rostopic` registers a new publisher with the ROS master. Then, `rosserial_arduino` is notified of this and negotiates a direct communication channel with `rostopic`. All of this takes some time. So what you should do is create a publisher once and keep it open. This should greatly reduce your latency on all following `publish()` calls. --- [Visit Topic](https://discourse.ros.org/t/rosserial-arduino-performance-question/1631/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: