RMW Performance

• ROS2 Humble
• Nvidia Jetson Orin Nano, JP 6.0
• Realsense D455

	FastDDS	CycloneDDS	Cyclone+Zenoh	Cyclone+Iceoryx	Cyclone+Iceoryx+Zenoh bridge1
Image	✅	✅	✅	✅	✅
PointCloud2	✅	🥴	🥴	✅	✅
Multi Interface	✅	✅	✅	✅	✅
Complex Data Processing	🥴	🤬	🤬	✅	✅
Wifi + Image	🥴	🤬	✅	❓	✅
Wifi + Pointcloud	🤬	🤬	🥴	❓	✅

Footnotes

1. It seems latest version of zenoh bridge is broken, use previous one: sudo apt install zenoh-bridge-ros2dds=0.11.0-stable ↩