Thanks to all for the interesting responses so far. Lots of good information on what to target for improvements. @Jmeyer A representative test case would be awesome. We can use it to find the root cause in the current design, and we can port it to ROS2 and make sure the new implementation doesn't suffer from the same bottleneck. --- [Visit Topic](https://discourse.ros.org/t/actions-in-ros-2/6254/11) 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: