Regression: High-frequency subscription (~10Hz) slow in rclnodejs 1.8.1 (worked in 0.21.4)

[sumit00000]

Description

• Library Version: rclnodejs 1.8.1 (regression)
• Previously working Version: rclnodejs 0.21.4
• ROS Version: ROS2 Humble
• Platform / OS: Ubuntu 22.04

Steps To Reproduce

import * as rclnodejs from 'rclnodejs';

let lastTs: number;
rclnodejs.init().then(() => {
  const node = new rclnodejs.Node('test_node');

  node.createSubscription(
    'std_msgs/msg/Float64MultiArray',
    '/map_to_base_link_pose2d',
    (msg: any) => {
      const now = Date.now();
      if (lastTs) {
        console.log('Raw Hz:', (1000 / (now - lastTs)).toFixed(2));
      }
      lastTs = now;
    }
  );

  rclnodejs.spin(node);
});

Expected Behavior
NodeJS subscription should receive messages at ~10Hz, matching the ROS2 topic publishing rate.

Actual Behavior
NodeJS subscription receives callbacks at ~1.5–1.8Hz.
Messages appear delayed or dropped, despite ROS2 publishing at 10Hz.
Regression compared to rclnodejs 0.21.4.
Workarounds like setImmediate() do not fix the problem.

Additional Notes / Observations
This issue only appears in rclnodejs 1.8.1.
High-frequency topics are significantly affected; lower-frequency topics (~1–2Hz) are unaffected.
Likely related to the NodeJS event loop integration or the subscription dispatch mechanism in the new version.

[minggangw]

@sumit00000 thanks for your feedback, do you try with other versions, like 1.8.0? Will take a look, thank!