Nice debugging. Out of curiousity, exactly how did you run operf (just so it is archived here for the future)? I was wondering about that wl myself. The next time I have some time (probably next week), I might try this locally to see what happens when I'm hooked to ethernet instead of wifi. That would be interesting. I also notice that there is ~10% going to memmove and memcpy, unaligned. I'm guessing if we could find a way to ensure that that is aligned, that would also be faster. Other than those things, yeah, I'd say we'd have to concentrate on convert_ros_message_to_dds and see what we could improve there. --- [Visit Topic](https://discourse.ros.org/t/astra-driver-for-ros2/1894/13) 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: