Hi @Ayush_G and rest of Isaac Sim ROS2 team. Great job on getting this released, it is a big step in the right direction.
Performance cut with FASTRTPS
We tested the ROS 2 Humble support on a 22.04 system running on a cloud hosted VM through Azure. We have early on seen a drastic performance drop on a vanilla installation of Isaac Sim with FASTRTPS extra args: export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml
inputted. the performance drop is the simulation running with half the FPS going compared to if its not there. In our case the drop is from 50 FPS to 25 FPS on an empty scene.
Out of the box experience
We are around 100 FPS or more on a Windows based system with ROS 2 installed with the same system specifications but are unable to get past 50 FPS and generally performance seems worse in 22.04 than Windows. Not sure this is ROS 2 related though. We cannot use the Windows system due to the unstable nature of ROS 2 and RTX in that environment, amongst other reliability and stability issues.
System
GPU: T4 16GB
RAM: 110 GB
OS: 22.04.3 LTS
Storage: 1000GB SSD (16% used)
Hope this helps the team improve the product as it is quickly moving towards something of a robotics standard - which is awesome!