To high latency

[alexzeit]

Describe the release item

We have measured the roundtrip latency and compared Zenoh versus udp. In our opinion the latency is to big for our realtime requirements.
Here the mean latency measurement results:
Udp socket: 0.42ms
Zenoh-pico Peer Zenoh-cpp: 0.98ms
Zenoh -pico zenohd zenoh-cpp 1.75ms
Zenoh-pico zenoh-bridge-ros2dds ros2 node : 2.05ms

Tested with zenoh 1.0.0 alpha6

our setup
Nuclei h753zi M7 480MHz with zephyr 3.7 rtos, 100 Mbit Ethernet

1Gb Ethernet switch
Nxp rdb3 board with Ubuntu 22.04 preempt rt 1Gbit GMAC
The application , zenoh router and eth interrupt running on shielded cores with high rt prio
Could you look into it to see any improvement is possible for next release?

[Mallets]

Do you mind sharing your benchmarking code? Additionally, can you elaborate more on your real-time use case/requirements?