Matlab ROS slow publishing + subscribing - performance

Question

In my experience Matlab performs publish subscribe operations with ROS slow for some reason. I work with components as defined in an object class as shown below, where I made a test-class. Normally objects of comparable structure are used to control mobile robots.
To quantify performance tested required time for an operation and got the following results:
1x publishing a message + 1x simple subscriber callback : 3.7ms
Simply counting in a callback (per count): 2.1318e-03 ms
Creating a new message with msg1 = rosmessage(obj.publisher) adds 3.6-4.3ms per iteration
Pinging myself indicated communication latency of 0.05 ms
The times required for a simple publish + start of a subscribe callback seems oddly slow.
I want to have multiple system components as objects in my workspace such that they respond to ROS topic updates or on timer events. The pc used for testing is not a monster but should not be garbage either.
Do you also think the shown time requirements are unneccesary large? this allows barely to publish a single topic at 200hz without doing anything else. Normally I have multiple lower frequency topics (e.g.20hz) but the total consumed time becomes significant.
Do you know any practices to make the system operate quicker?
What do you think of the OOP style of making control system components in general?
classdef subpubspeedMonitor < handle
% Use: call in matlab console, after initializing ros:
%
% SPM1 = subpubspeedMonitor()
%
% This will create an object which starts a set repetitive task upon creation
% and finally destructs itself after posting results in console.
properties
node
subscriber
publisher
timestart
messagetotal
end
methods
function obj = subpubspeedMonitor()
obj.node = ros.Node('subspeedmonitor1');
obj.subscriber = ros.Subscriber(obj.node,'topic1','sensor_msgs/NavSatFix',{#obj.rosSubCallback});
obj.publisher = ros.Publisher(obj.node,'topic1','sensor_msgs/NavSatFix');
obj.timestart = tic;
obj.messagetotal = 0;
msg1 = rosmessage(obj.publisher);
% Choose to evaluate subscriber + publisher loop or just counting
if 1
send(obj.publisher,msg1);
else
countAndDisplay(obj)
end
end
%% Test method one: repetitive publishing and subscribing
function rosSubCallback(obj,~,msg_) % ~3.7 ms per loop for a simple publish+subscribe action
% Latency to self is 0.05ms on average, according to "pinging" in terminal
obj.messagetotal = obj.messagetotal+1;
if obj.messagetotal <10000
%msg1 = rosmessage(obj.publisher); % this line adds 4.3000ms per loop
msg_.Longitude = 51; % this line adds 0.25000 ms per loop
send(obj.publisher,msg_)
else
% Display some results
timepassed = toc(obj.timestart);
time_per_pubsub = timepassed/obj.messagetotal
delete(obj);
end
end
%% Test method two: simply counting
function countAndDisplay(obj) % this costs 2.1318e-03 ms(!) per loop
obj.messagetotal = obj.messagetotal+1;
if obj.messagetotal <10000
%msg1 = rosmessage(obj.publisher); %adds 3.6ms per loop
%i = 1% adds 5.7532e-03 ms per loop
%msg1 = rosmessage("std_msgs/Bool"); %adds 1.5ms per loop
countAndDisplay(obj);
else
% Display some results
timepassed = toc(obj.timestart);
time_per_count_FCN = timepassed/obj.messagetotal
delete(obj);
end
end
%% Deconstructor
function delete(obj)
delete(obj.subscriber)
delete(obj.publisher)
delete(obj.node)
end
end
end