- Edited
Thanks for sharing this. I was having the exact same issue on arm64 (Raspberry pi) running Ubuntu 22.04. I tried running Rviz2 on a remote machine, but had the same problem. After researching further, the topic publishing latency was terrible and I encountered these two articles on DDS tuning on Linux and followed the recommendations indicated.
https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html#cross-vendor-tuning
sudo sysctl net.ipv4.ipfrag_time=3
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728
https://fast-dds.docs.eprosima.com/en/1.5.0/advanced.html
sudo sysctl -w net.ipv4.udp_mem="102400 873800 16777216"
sudo sysctl -w net.core.netdev_max_backlog="30000"
sudo sysctl -w net.core.rmem_max="16777216"
sudo sysctl -w net.core.wmem_max="16777216"
After doing so and running Rviz2 remotely, the camera and point cloud topic data began flowing and I was able to visualize the data in Rviz2. However, there is still about a 3 second delay, but at least it's working.