[ros-users] [Discourse.ros.org] [Next Generation ROS] Image and PointCloud2 performance on ROS2

[Chris Ye]

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.





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