Large Data Mode in BuiltinTransport of Fast DDS

[AnoopGQuest]

I had integrated a pcie transport protocol (wired) in fast-dds and it is working perfectly. I know there is a large data configuration for fast dds within builtintransport which supports UDP for Discovery and TCP for data transfer.

However, when I tried to create a large data configuration for PCIe (involving UDP for discovery and PCIe for data transfer) by modifying the TCP configuration within the setup_large_data() function, I encountered performance issues. While the setup works as expected with UDP for discovery and PCIe for data transfer, I observed significant frame drops. Specifically, when running a ROS application that publishes images at 30 FPS, the FPS drops to 3 while subscribing.

What may be the reason for that?