diff --git a/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs b/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs
index 021c7e5d..8d9ae9a5 100644
--- a/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs
+++ b/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs
@@ -11,7 +11,7 @@ public static void OpenWindow()
         {
             ROSSettingsEditor window = GetWindow<ROSSettingsEditor>(false, "ROS Settings", true);
             window.minSize = new Vector2(300, 65);
-            window.maxSize = new Vector2(600, 200);
+            window.maxSize = new Vector2(600, 250);
             window.Show();
         }
 
@@ -51,13 +51,21 @@ protected virtual void OnGUI()
             EditorGUILayout.Space();
             EditorGUILayout.LabelField("If awaiting a service response:", EditorStyles.boldLabel);
             prefab.awaitDataMaxRetries = EditorGUILayout.IntField(
-                new GUIContent("Max Retries",
+                new GUIContent("Max Service Retries",
                     "While waiting for a service to respond, check this many times before giving up."),
                 prefab.awaitDataMaxRetries);
             prefab.awaitDataSleepSeconds = EditorGUILayout.FloatField(
                 new GUIContent("Sleep (seconds)",
                     "While waiting for a service to respond, wait this many seconds between checks."),
                 prefab.awaitDataSleepSeconds);
+            prefab.readChunkSize = EditorGUILayout.IntField(
+                new GUIContent("Read chunk size",
+                    "While reading received messages, read this many bytes at a time."),
+                prefab.readChunkSize);
+            prefab.awaitDataReadRetry = EditorGUILayout.IntField(
+                new GUIContent("Max Read retries",
+                    "While waiting to read a full message, check this many times before giving up."),
+                prefab.awaitDataReadRetry);
 
             if (GUI.changed)
             {
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
index d0230306..e1d08144 100644
--- a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
@@ -33,6 +33,12 @@ public class ROSConnection : MonoBehaviour
         [Tooltip("While waiting for a service to respond, wait this many seconds between checks.")]
         public float awaitDataSleepSeconds = 1.0f;
 
+        [Tooltip("While reading received messages, read this many bytes at a time.")]
+        public int readChunkSize = 2048;
+
+        [Tooltip("While waiting to read a full message, check this many times before giving up.")]
+        public int awaitDataReadRetry = 10;
+
         static object _lock = new object(); // sync lock 
         static List<Task> activeConnectionTasks = new List<Task>(); // pending connections
 
@@ -144,7 +150,7 @@ public async void SendServiceMessage<RESPONSE>(string rosServiceName, Message se
             try
             {
                 string serviceName;
-                byte[] content = ReadMessageContents(networkStream, out serviceName);
+                (string topicName, byte[] content) = await ReadMessageContents(networkStream);
                 serviceResponse.Deserialize(content, 0);
             }
             catch (Exception e)
@@ -251,18 +257,17 @@ protected async Task HandleConnectionAsync(TcpClient tcpClient)
             await Task.Yield();
 
             // continue asynchronously on another thread
-            ReadMessage(tcpClient.GetStream());
+            await ReadMessage(tcpClient.GetStream());
         }
 
-        void ReadMessage(NetworkStream networkStream)
+        async Task ReadMessage(NetworkStream networkStream)
         {
             if (!networkStream.CanRead)
                 return;
 
             SubscriberCallback subs;
 
-            string topicName;
-            byte[] content = ReadMessageContents(networkStream, out topicName);
+            (string topicName, byte[] content) = await ReadMessageContents(networkStream);
 
             if (!subscribers.TryGetValue(topicName, out subs))
                 return; // not interested in this topic
@@ -291,7 +296,7 @@ void ReadMessage(NetworkStream networkStream)
             }
         }
 
-        byte[] ReadMessageContents(NetworkStream networkStream, out string topicName)
+        async Task<Tuple<string, byte[]>> ReadMessageContents(NetworkStream networkStream)
         {
             // Get first bytes to determine length of topic name
             byte[] rawTopicBytes = new byte[4];
@@ -301,7 +306,7 @@ byte[] ReadMessageContents(NetworkStream networkStream, out string topicName)
             // Read and convert topic name
             byte[] topicNameBytes = new byte[topicLength];
             networkStream.Read(topicNameBytes, 0, topicNameBytes.Length);
-            topicName = Encoding.ASCII.GetString(topicNameBytes, 0, topicLength);
+            string topicName = Encoding.ASCII.GetString(topicNameBytes, 0, topicLength);
 
             byte[] full_message_size_bytes = new byte[4];
             networkStream.Read(full_message_size_bytes, 0, full_message_size_bytes.Length);
@@ -311,14 +316,28 @@ byte[] ReadMessageContents(NetworkStream networkStream, out string topicName)
             int bytesRemaining = full_message_size;
             int totalBytesRead = 0;
 
-            while (networkStream.DataAvailable && bytesRemaining > 0)
+            int attempts = 0;
+            // Read in message contents until completion, or until attempts are maxed out
+            while (bytesRemaining > 0 && attempts <= this.awaitDataReadRetry)
             {
-                int bytesRead = networkStream.Read(readBuffer, totalBytesRead, bytesRemaining);
+                if (attempts == this.awaitDataReadRetry)
+                {
+                    Debug.LogError("No more data to read network stream after " + awaitDataReadRetry + " attempts.");
+                    return Tuple.Create(topicName, readBuffer);
+                }
+
+                // Read the minimum of the bytes remaining, or the designated readChunkSize in segments until none remain
+                int bytesRead = networkStream.Read(readBuffer, totalBytesRead, Math.Min(readChunkSize, bytesRemaining));
                 totalBytesRead += bytesRead;
                 bytesRemaining -= bytesRead;
-            }
 
-            return readBuffer;
+                if (!networkStream.DataAvailable) 
+                {
+                    attempts++;
+                    await Task.Yield();
+                }
+            }
+            return Tuple.Create(topicName, readBuffer);
         }
 
         /// <summary>