Lessons Learned Switching from ROS1 to ROS2
As many roboticists are moving from ROS1 to ROS2, there are still not too many resources on the web about the performance of ROS2 compared to ROS1. Robocup team “Hamburg Bit-Bots” shared their experience about moving from ROS1 to ROS2 for RoboCup Soccer league in their post Experiences with ROS 2 on our robots. They share many practical tips and performance comparisons between ROS1 and ROS2. If you are planning to do the same and switch to ROS2, I highly suggest to take a look at their post.