[Severe sending delays] Receiving data from can0 is stable, but sending data to can0 is unstable with multiple high latencies

[zymouse]

descriptions

tags : 1.3.0
commit: a920407

CPU:

The vehicle sends vehicle status data to the IPC at 50hz. The IPC sends control data to the vehicle at 50hz.
Severe latency occurs when there is an occasional CPU over 80%.

50hz feedback from the vehicle, sent to IPC: stabilise

50hz control message from IPC to vehicle：Unstable, high latency

I've tested repeatedly and can ensure that the topic frequency posted to the socket_can_sender_node_exe node control message is stable at 50hz, and the QOS is all 500

Finally:
Very much looking forward to your reply, ros2_socketcan is a great tool!