[Bug] Zenoh bridge 5 Mb/s max throughput

[jrached]

Describe the bug

Publishing a ros2 topic with a frequency and bandwidth combination so that the throughput exceeds 5 Mb/s, results in the messages being either compressed or dropped so that throughput is not higher than 5 Mb/s.

Is that expected behavior? Is there a way to change that?

Apologies if this is not the right place for this question, I didn't know where else to ask.

Below is our config file.

Config:

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

mode: "client",

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

Thanks.

To reproduce

Run a program that publishes high bandwidth data at a high frequency. E.g., a depth camera or lidar node in ros2 at 15 Hz or higher.

System info

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