[ROS2] Issues w/ low throughput to remote machine
Running Foxy on a Xavier NX and my desktop connected with a shared network. The Xavier is publishing 300KB images at 20 fps, and I'm attempting to echo them from my desktop.
With the fastrtps middleware I occasionally manage to receive an image or two (no more than a few per minute), with cyclonedds I'm able to receive between about 5 and 13 fps, however, this is wildly inconsistent, occasionally it goes down completely. These are 300KB images being published at 20 fps.
Also, even when using cyclonedds and receiving some messages, attempting to subscribe to a second topic image topic will cause the first one to drop to ~2 fps while the new subscriber is unable to receive any messages at all.
The network connection in and of itself is fine (700+ Mbps).
Has anyone had any similar problems? What kind of throughput should I expect to get on a remote machine with a good connection? Any ideas about what I can do here?