Performance issues with large PointClouds

[FabianThomsen]

I have a PointCloud2 message with 6716596 points, colored in RGB. Publishing it only once and displaying it in RVIZ2 already leads to massive performance drops. When changing the Style e.g. to Boxes, it becomes totally impossible to move the view around.

Due to the large number of points, I would say, this may be expected - but in RVIZ in ROS1, the same works without any lags on my machine, so I guess there is some substantial difference between RVIZ and RVIZ2 leading to this issue.

[sloretz]

Would you be willing to provide a super small bag with that point cloud for testing purposes?

[FabianThomsen]

Would you be willing to provide a super small bag with that point cloud for testing purposes?

Sure, you can download a bag containing the pointcloud twice (in an interval of 100s) and rviz config from here within the next two weeks. The bag was recorded in humble.