Bug report

Required Info:

• Operating System:
  • Ubuntu 16.04
• Installation type:
  -from source
• Version or commit hash:
  • 0.5.1
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

I slightly modified the demos/intra_process_demo/src/two_node_pipeline/two_node_pipeline.cpp example.

Changing the message type to something "bigger" such as

std_msgs/Header header
byte[4096] array

Moreover I recorded the communication latency as the difference between the timestamp in the message header and the current time when the subscriber callback is triggered.

Expected behavior

Intra-Process communication avoids copying object around and just share a pointer, thus reducing latency.

Actual behavior

When use_intra_process_comms is set to true in the node constructors, the average latency is almost identical or even slightly bigger.