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ZhenshengLee / ros2_shm_msgs

ROS2 shm_msg based zero-copy for image and pointcloud.
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[FEA] add type adaptation feature in Humble. #14

Closed ZhenshengLee closed 2 years ago

ZhenshengLee commented 2 years ago

https://github.com/ros-infrastructure/rep/blob/master/rep-2007.rst

ZhenshengLee commented 2 years ago

see https://github.com/ros2/demos/pull/482 https://github.com/ros2/demos/issues/583

https://github.com/ros-perception/vision_opencv/pull/441

I don't see the priority, cause it doesn't improve the performance.

ZhenshengLee commented 2 years ago

But in rclcpp-intra-process, type conversion is avoided, see following

https://github.com/ros2/rclcpp/pull/1849 https://github.com/ros2/ros2_documentation/issues/2377 https://github.com/ros2/rclcpp/issues/1664

this make it possible to improve cuda performance, because cudamemcpy canbe avoided too!

see this example of intra-process-cuda-image-pipeline https://github.com/NVIDIA-ISAAC-ROS/ros2_examples/tree/humble/rclcpp/type_adaptation/accelerated_pipeline

Anyway , rclcpp-intra-process is not for ros2_shm_msgs.

ZhenshengLee commented 2 years ago

zero-copy can be achieved with intra-process since dashing(stable in foxy), the type-adaption feature is mostly for saving costs in the GPU processing of image/pointclouds. this issue will be merged into #18

closing this.