Puyu

> Hello, @Puyu2934: > > 1. In reliable mode is normal to have a lower rate due to the reliability messages, if you need high rates, just use best effort...

> Try to remove the `osDelay` from the main loop and reduce your msg type. Hello @pablogs9 : When I remove `osDelay`, the odometry msg frame rate still only 52...

> Another question, if you are in a FreeRTOS environment, how many tasks do you have? Which priority has each task? > > Could you provide your whole micro-ROS code...

dma_transport https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/humble/extra_sources/microros_transports/dma_transport.c

Yes, I tried to remove the while: ``` size_t cubemx_transport_write(struct uxrCustomTransport* transport, const uint8_t *buf, size_t len, uint8_t * err){ UART_HandleTypeDef * uart = (UART_HandleTypeDef*) transport->args; HAL_StatusTypeDef ret; if (uart->gState...

> I've experienced something similar to the problem you've experienced. > > In my case, it was to raise the IMU Topic frequency by 250Hz. I checked the IMU Topic...