ros_gz_bridge on Windows 11 being throttled with default RMW

[knmcguire]

Environment

• OS Version: Windows 11
• Source or binary build? Binary - Jazzy

Description

• Expected behavior: I expect that ros_gz_bridge is able to match the gz topic speed of gazebo into ROS topics
• Actual behavior: There is a huge decrease or throttling happening

Steps to reproduce

1. Terminal 1: Open up the sensor world

gz sim -s -r "sensors.sdf"

2. Terminal 2: Startup a bridge for the IMU

 ros2 run ros_gz_bridge parameter_bridge /imu@sensor_msgs/msg/Imu[gz.msgs.IMU

3. Terminal 3: Check out the /imu gz topic frequency (should be close to 100)

gz topic -t /imu -f

4. Terminal 4: Check out the /imu ros2 topic frequency. This is a lot less (like 15-20 hz)

ros2 topic hz /imu

Output

For gz topics

interval [0]:    0.0053833s
interval [1]:    0.0116146s
interval [2]:    0.0100218s
interval [3]:    0.0090577s
interval [4]:    0.0099747s
interval [5]:    0.0159583s
interval [6]:    0.0079435s
interval [7]:    0.0100456s
interval [8]:    0.0089994s
interval [9]:    0.0096707s
average rate: 101.348
min: 0.0053833s max: 0.0159583s std dev: 0.00255881s window: 10


interval [0]:    0.0061617s
interval [1]:    0.0082512s
interval [2]:    0.013949s
interval [3]:    0.0129563s
interval [4]:    0.0132138s
interval [5]:    0.0116915s
interval [6]:    0.0108928s
interval [7]:    0.0089694s
interval [8]:    0.0120212s
interval [9]:    0.0108856s
average rate: 91.7494
min: 0.0061617s max: 0.013949s std dev: 0.00232287s window: 10


interval [0]:    0.0067964s
interval [1]:    0.0069264s
interval [2]:    0.0126375s
interval [3]:    0.0128142s
interval [4]:    0.0108973s
interval [5]:    0.0111531s
interval [6]:    0.0128864s
interval [7]:    0.0082316s
interval [8]:    0.0119836s
interval [9]:    0.0109866s
average rate: 94.9549
min: 0.0067964s max: 0.0128864s std dev: 0.00224198s window: 10

For ROS2 topic:

average rate: 15.977
        min: 0.000s max: 0.332s std dev: 0.12957s window: 16
average rate: 15.983
        min: 0.000s max: 0.333s std dev: 0.12944s window: 32
average rate: 16.321
        min: 0.000s max: 0.333s std dev: 0.12838s window: 49

Additional information

Important to know that this does not seem to happen on WSL2 Ubuntu 24.04 (and I suspect it doesn't on Ubuntu). Also if I select cyclonedds as rmw for windows, this seems to fix it as well.