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I had the exact same problem on ROS2 Humble with the nav2 stack running on a PC connected to the network over ethernet and the actual robot connected to the same network but over Wifi. First I installed chrony on all PCs and set the Robot PC as a local time server to which all other PCs in the network get synced to. However this didn't help.
But then I found this issue on the nav2 github, where the maintainer suggests to use Eclipse CylconeDDS as the RMW instead of the default eProsima fastDDS. By following the instructions to install Cyclone DDS which are simply
sudo apt install ros-humble-rmw-cyclonedds-cpp to install Cyclone DDS on Humbleexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp into your bashrc (nano .bashrc or gedit .bashrc if you want a GUI tool and then insert at the bottom and save)For me this solved all problems and I have the impression the ROS2 network overall runs faster and more stable.
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