[Bug] Zenoh limits high bandwidth topic publishing frequency to 1 Hz

[jrached]

Describe the bug

When running a realsense d455 depth camera using the zenoh bridge, the publishing frequency of the depth cloud caps at 1 Hz. When I switch back to cyclone, the depth cloud topic publishes at 30 Hz as expected.

The messages for this topic are quite large (~ 5 Mb), so I'm wondering if this is a Zenoh limit, a bug, or something I should be able to fix in the config file.

Any insight helps. Thanks in advance!

To reproduce

1. Run Zenoh router with the configs below (replacing endpoints, publishers, and subscribers with corresponding values)
2. Run a large bandwidth topic (~ 5 Mb) like from a depth camera or lidar at any frequency greater than 1Hz
3. Watch the frequency go down to 1 Hz

Config:

{
plugins: {
ros2dds: {
allow: {
publishers: ["./d455/depth/color/points", "/tf", "/tf_static"],
subscribers: ["./pose", ".*/world", "/trajs"],
service_clients: ["/sim/get_system_info"],
},
},
},

mode: "router",

connect: {
endpoints: [
"tcp/192.168.0.20:7447", //GCS
"tcp/192.168.0.107:7447", //PX01
]
},
}

System info

• Platform: Ubuntu 22.04 64-bit
• CPU: Intel NUC 13th Gen, Core i7
• Binaries: zenoh-plugin-ros2dds-1.1.1-x86_64-unknown-linux-gnu-standalone.zip