1. Testing Environment

• Operating System: Ubuntu 20.04
• CPU: 11th Gen Intel® Core™ i9-11900K @ 3.50GHz × 16
• GPU: NVIDIA GeForce RTX 3060/PCIe/SSE2 (NVIDIA Corporation)
• Memory: 62.6 GiB
• OpenGL: Version 3.6
• ROS 1: Noetic
• Rviz 1: Version 1.14.25
• ROS 2: Foxy
• Rviz 2: Latest version from this GitHub repository

2. Problem Description

When I attempt to publish a point cloud in both Rviz1 and Rviz2, I observe significant differences in their performance:

• Rviz 1: Very smooth with an FPS of up to 500 Hz (when adjusting the frame rate).
• Rviz 2: Becomes completely unresponsive when I try to change the view by dragging the mouse.

I have verified that both Rviz1 and Rviz2 are using the GPU, as shown in the following logs:

1. Rviz 1 Output:

   [ INFO] [1737213454.623461674]: rviz version 1.14.25
   [ INFO] [1737213454.623501868]: compiled against Qt version 5.12.8
   [ INFO] [1737213454.623509635]: compiled against OGRE version 1.9.0 (Ghadamon)
   [ INFO] [1737213454.627971466]: Forcing OpenGl version 0.
   [ INFO] [1737213455.265363469]: Stereo is NOT SUPPORTED
   [ INFO] [1737213455.265403534]: OpenGL device: NVIDIA GeForce RTX 3060/PCIe/SSE2
   [ INFO] [1737213455.265414117]: OpenGl version: 4.6 (GLSL 4.6).
   

2. Rviz 2 Output:

   [INFO] [1737213896.198886037] [rviz2]: Stereo is NOT SUPPORTED
   [INFO] [1737213896.198984848] [rviz2]: OpenGL Vendor: NVIDIA Corporation
   OpenGL Renderer: NVIDIA GeForce RTX 3060/PCIe/SSE2
   OpenGL Version: 4.6.0 NVIDIA 470.256.02
   [INFO] [1737213896.198994700] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
   [INFO] [1737213896.275618870] [rviz2]: Stereo is NOT SUPPORTED
   
   

3 Reproduce