Poor CPU performance with Type Adapters when using references

Bug report

Required Info:

• Operating System:
  • Ubuntu Jammy 22.04
• Installation type:
  • Source
• Version or commit hash:
  • rclcpp 21.1.0
• DDS implementation:
  • fastdds or cyclone
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

It appears when publishers move + publish a Message<T> and subscription callbacks have a signature of std::function<void(const<MessageT& msg)> , the CPU load is a lot higher compared to when dealing with shared_ptr<Message<T>> or unique_ptr<Message<T>>

From my experience the CPU load for the former is almost an order of magnitude greater.
I've setup a package here with minimal reproducible code.
It appears the Intraprocess manager might not be handing moved references properly.

Expected behavior

CPU load is the same for 1 pub + 1 sub.

Actual behavior

Additional information

Feature request

Feature description

Implementation considerations

Start by running the minimal reproducer in the linked type_adapt_example package and comparing moved Message publishing with shared_ptr<Message> and unique_ptr<Message> callbacks. Read the rclcpp Intraprocess manager path involved in these callbacks and verify that CPU load for one publisher and one subscriber is comparable across the cases.