I am using sqlite3 storage format and cdr serialization format in ROS2. In my testing, I have observed that the serialization/deserialization performance of sequentially writing/reading messages for ROS2 bag files is significantly slower than ROS1.

Is there anything faster than sqlite3 and cdr that is currently available that would achieve the performance at par with ROS1?

Documentation here appears to suggest as if rosbag2_v2 is an alternative to sqlite3, but when I try the rosbag2_v2 value it does not work for me. Am I reading the documentation below correctly?

ros2 bag <record> | <play> | <info> -s <sqlite3> | <rosbag2_v2> | <custom_plugin>