Thank you for your answer @andreaspasternak, I was lacking some features (typesupport, proper management of multithreading, etc...), but in the end I was able to test my stack with your package. Also, I already implemented the invasive solution for measuring the latency of each layers. I will ask you if I need help, thank you again. --- [Visit Topic](https://discourse.ros.org/t/latency-and-throughput-in-ros2/4367/7) 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: