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For multi-robot systems where you have a crowded network and delayed data becomes quickly irrelevant (e.g sharing position/velocities to neighbors in a swarming formation), UDP can a better choice, at the expense of less reliability.

If leader 1,2,3 are the same robot and run the same listener, you might want to try using a single node with N subscribers and a Multi-threaded spinner instead of the default ros::spin() ( ).

If you really cannot get the performance you want, it might be good to stress test your network without ROS to understand exactly where the bottlenecks are.