@yechun We performance_tested all sort of small and large data here and got latencies ~20ms for 2MB PointCloud2 messages: https://github.com/ros2/rmw_fastrtps/pull/203#issuecomment-399778193. What I think is happening is that you are trying to publish PointCloud2 data with the default QoS settings (https://github.com/ros2/rmw/blob/master/rmw/include/rmw/qos_profiles.h#L43-L50) which are set to reliable and volatile. `ros2 topic echo` command is using sensor QoS (https://github.com/ros2/ros2cli/blob/master/ros2topic/ros2topic/verb/echo.py#L134) which are best effort. I would suggest to use sensor QoS in your publisher (see example https://github.com/ros2/ros2/wiki/About-Quality-of-Service-Settings). Otherwise it does not make much sense to print PointCloud2 messages to a console. For performance testing I would otherwise suggest you to use this tool: https://github.com/ApexAI/performance_test. D. --- [Visit Topic](https://discourse.ros.org/t/image-and-pointcloud2-performance-on-ros2/5391/5) 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: