Update debugging status: I have wrote test code [rttest_sample](https://github.com/yechun1/rttest_sample) to publish PointCloud2 on topic /rttest_sample. the result is: Set data size as 64x48, "ros2 topic echo /rttest_sample" works. Set data size as 640x48, "ros2 topic echo /rttest_sample" cost ~10s. Set data size as 640x480, "ros2 topic echo /rttest_sample" cost more then 60s. While I use ros1_bridge and echo the same(ros2) topic in ros1, it works will with 640x480. debugging point to code: rcl/src/rcl/wait.c::rcl_wait ===================================================== [INFO] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services timeout = -1 [INFO] [rcl]: Waiting without timeout [INFO] [rcl]: Timeout calculated based on next scheduled timer: false **// Wait. here** rmw_ret_t ret = rmw_wait( &wait_set->impl->rmw_subscriptions, &wait_set->impl->rmw_guard_conditions, &wait_set->impl->rmw_services, &wait_set->impl->rmw_clients, wait_set->impl->rmw_wait_set, timeout_argument); Don't know why rmw_wait cost so much time. --- [Visit Topic](https://discourse.ros.org/t/image-and-pointcloud2-performance-on-ros2/5391/3) 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: