esp32 can only publish up to 2hz. slow performance

[TheHassanShahzad]

Issue template

• Hardware description: esp32 wroom32 nodeMCU dev board
• Installation type: downloaded zip library and included it in arduino IDE
• Version or commit hash: humble running microros arduino 2.0.7

Steps to reproduce the issue

i modified the example micro ros publisher which should publish an integer regulary. I modified the timer period to 20ms (anything under 600 doesnt seem to work as expected) and got rid of the 100ms delay in the main loop.

After uploading the code, i ran the microROS Agent which i cloned into my src and built then ran ' ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0'

Expected behavior

ros2 topic echo /topic_name should display the integers being printed at around 50Hz

Actual behavior

https://asciinema.org/a/D1Z1pUeNKVQrnGEfAYVl7WP9p

integers published up to 2hz and are laggy. get published together instead of in evenly spaced intervals

Additional information

Ive used microROS on esp32 with microROS agent and have never had any issue. Only until i started adding custom message types did these issues start

Im using rmw_fastrtps_cpp but even switching to rmw_cyclonedds_cpp did not solve the issue Plugging the esp32 into a raspberry pi and running the agent also did not fix the issue so i think the issue lies with the library and not the agent

pehaps a fault in a new update