Long publish period for many topics.

[smorita-esol]

The publish period of the Micro-XRCE-DDS Client when it published over 40 topics seems to be over several ten milliseconds.
Is this a limitation of the Micro-XRCE-DDS?

We evaluated the Micro XRCE-DDS-Client which was ported to the FreeRTOS environment below.
https://github.com/godzilla-max/rose_sketch

To evaluate the publish period, we modified the main.cpp in the above repository so as to publish 40 topics whose type is uint8 array(Uint8MultiArray). The size of each array is 300 bytes.
And the publish period derived from the application above was over 20 miliseconds, and up to about 1 second.

I know this might be caused by some limitations of th FreeRTOS or its network stack. But I want to know whther this long pusblish periods are expected even in the XRCE-DDS on its reference platform or not.

I attached a set of the files modified in the reoisitory above to this ticket.
ModifiedSourceListsForGrRoseRepo.zip

[FranFin]

@smorita-esol Hi! Thank you for your interest in Micro XRCE-DDS. Notice that we’ll discuss the recent contributions and developments in the next Embedded WG meeting. You’re invited to bring your Micro XRCE-DDS related issue to this platform. We’ll be very happy to have you join us and discuss your questions with the community.