Interprocess Communication latency between nodes in Isaac

Did anyone attempt to measure the interprocess communication time between nodes running locally in Isaac?
I am considering it for a commercial project on the Nvidia Jetson Xavier AGX board.
What is the underlying IPC Communication mechanism used? Do Isaac use some sort of Distributed Data Service Middleware like ROS2?

Isaac SDK applications run as a single process which can optionally run their own TcpPublisher/TcpSubscriber pairs to manage marshalling, serialization, and transport over sockets to another process.

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