During ROSCon 2019 Alberto Soragna, Juan Oxoby, and Dhiraj Goel from iRobot presented their experience in using Robot Operating System 2 (ROS 2) on a low-cost embedded platform. By experimenting with different Data Distribution Service (DDS) implementations they reduced the CPU and memory usage of their application, which improved performance. As iRobot is creating consumer robots with low-cost embedded platforms in them, they investigated the use of ROS 2 on their embedded hardware. ROS 2 works well on desktop computers and on microcontrollers, but it is more difficult to use ROS on small Linux computers. A core challenge that iRobot faced during development is that they have approximately 1000 robots connected to the same network during their prototyping phase.