matthiaskillat / ros2_shm_vision_demo Goto Github PK

the name ros2_shm_vision_demo is quite long IMO and I think we can drop the ros2 to cut down on typing/include paths that are needed now after fixing cpplint errors.

Open to other names as well....just the shorter the better 😄

see the codes in the following

but there is a need to avoid all the memcpys, which is by @fhwedel-hoe in ros-perception/image_common#212 (comment)_

so what's the consideration of avoiding memcpy with loaned_msg in rclcpp zero-copy api?

• each processing executable should probably have its own topic to publish to
• this would enable users to use rqt and rviz2 as well
• additional copies would be avoided using iceoryx I think, making the performance gain for the shm_demo.sh even more apparent

Now that the package name has been renamed we probably should rename the repo as well - shm_visoin_demo.

Hello,

I am here to introduce a repo ros2_shm_msgs for zero copy with pointcloud and image, and just finished a point cloud transport demo.

In your deisign, I see a complete new image msg definition, but in my repo, I alter the image/pointclod wrapper layer to support zero-copy and try not to change more about msg definitions.

What's your opinion about this idea?
Issues are welcomed!

Thanks.

I've done this before on a different project but it was a nice little automation so the end user didn't have to download themselves and also it enabled CI to run much more easily too.

see here for how to do it

fix all the lint errors (cpplint, uncrustify, etc.) for the repo