Good tutorial to follow:

https://roboticsbackend.com/ros2-multiple-machines-including-raspberry-pi/

• this pretty much works out of the box on a simple network, but larger messags start to cause problems:
• Ran into strange issue where PC1→ ETH, PC2→ wifi, getting dropped image messages. (joint messages subscribe fine)
  • But when I have both on wifi, the image messages make it through, just slowly

A few resouces on this:

https://robotics.stackexchange.com/questions/108358/ros2-humble-issues-sending-and-recieving-messages-with-wireless-communication

https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html

https://answers.ros.org/question/406154/unable-to-receive-large-messages/

https://community.husarnet.com/t/ros2-unable-to-send-images-using-ros2-topics/489

https://fast-dds.docs.eprosima.com/en/latest/fastdds/use_cases/large_data/large_data.html

ROS2 QOS profile:

From isaac sim, there is a section on how to set this:

https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_qos.html

powrsave on wifi adapter:

https://unix.stackexchange.com/questions/269661/how-to-turn-off-wireless-power-management-permanently