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ZhenshengLee / ros2_shm_msgs

ROS2 shm_msg based zero-copy for image and pointcloud.
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Follow your steps, but at the time of publication the prompt did not use the loan message #30

Open Morning-zz opened 3 weeks ago

Morning-zz commented 3 weeks ago

./image1m_talker [INFO] [1724397612.482477407] [rclcpp]: Currently used middleware can't loan messages. Local allocator will be used.

Morning-zz commented 3 weeks ago

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp export FASTRTPS_DEFAULT_PROFILES_FILE=$HOME/shm_fastdds.xml export RMW_FASTRTPS_USE_QOS_FROM_XML=1

Morning-zz commented 3 weeks ago

ros2 version is humble

Morning-zz commented 3 weeks ago

humble loan messages is turned off by default and needs to be opened manually ：export ROS_DISABLE_LOANED_MESSAGES=0

After the configuration was successful, testing found no difference in latency, and even more volatile in some cases. But the memory consumption is smaller

[INFO] [1724408813.173785288] [shm_image8m_listener]: get-image8m-transport-time: 6.068 [INFO] [1724408813.173803704] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.063

[INFO] [1724408813.273643544] [shm_image8m_listener]: get-image8m-transport-time: 5.987 [INFO] [1724408813.273660113] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.940

[INFO] [1724408813.373194467] [shm_image8m_listener]: get-image8m-transport-time: 5.568 [INFO] [1724408813.373210473] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.969

[INFO] [1724408813.473785216] [shm_image8m_listener]: get-image8m-transport-time: 6.139 [INFO] [1724408813.473803059] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.020

[INFO] [1724408813.573410933] [shm_image8m_listener]: get-image8m-transport-time: 5.756 [INFO] [1724408813.573428414] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.008

[INFO] [1724408813.673899290] [shm_image8m_listener]: get-image8m-transport-time: 6.254 [INFO] [1724408813.673916613] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.991

[INFO] [1724408813.773316295] [shm_image8m_listener]: get-image8m-transport-time: 5.689 [INFO] [1724408813.773375087] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.982

[INFO] [1724408813.873555894] [shm_image8m_listener]: get-image8m-transport-time: 5.907 [INFO] [1724408813.873572022] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.021

[INFO] [1724408813.973319446] [shm_image8m_listener]: get-image8m-transport-time: 5.688 [INFO] [1724408813.973335048] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.983

[INFO] [1724408814.074143192] [shm_image8m_listener]: get-image8m-transport-time: 6.484 [INFO] [1724408814.074166489] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.029

[INFO] [1724408814.171937260] [shm_image8m_listener]: get-image8m-transport-time: 4.294 [INFO] [1724408814.171948826] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.983

[INFO] [1724408814.274029077] [shm_image8m_listener]: get-image8m-transport-time: 6.376 [INFO] [1724408814.274048687] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.009

[INFO] [1724408814.372664897] [shm_image8m_listener]: get-image8m-transport-time: 5.041 [INFO] [1724408814.372672698] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.972

[INFO] [1724408814.474239113] [shm_image8m_listener]: get-image8m-transport-time: 6.518 [INFO] [1724408814.474256727] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.097

[INFO] [1724408814.573860952] [shm_image8m_listener]: get-image8m-transport-time: 6.202 [INFO] [1724408814.573879431] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.937

[INFO] [1724408814.674508280] [shm_image8m_listener]: get-image8m-transport-time: 6.877 [INFO] [1724408814.674527442] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.972

[INFO] [1724408814.773280464] [shm_image8m_listener]: get-image8m-transport-time: 5.645 [INFO] [1724408814.773294402] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.005

[INFO] [1724408814.873866929] [shm_image8m_listener]: get-image8m-transport-time: 6.243 [INFO] [1724408814.873884520] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.988

[INFO] [1724408814.973220463] [shm_image8m_listener]: get-image8m-transport-time: 5.591 [INFO] [1724408814.973236502] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.006

[INFO] [1724408815.073442636] [shm_image8m_listener]: get-image8m-transport-time: 5.820 [INFO] [1724408815.073459701] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.994

[INFO] [1724408815.173475954] [shm_image8m_listener]: get-image8m-transport-time: 5.844 [INFO] [1724408815.173492544] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.009

[INFO] [1724408815.273625458] [shm_image8m_listener]: get-image8m-transport-time: 6.011 [INFO] [1724408815.273641881] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.983

[INFO] [1724408815.373163329] [shm_image8m_listener]: get-image8m-transport-time: 5.538 [INFO] [1724408815.373179447] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.011

[INFO] [1724408815.473265030] [shm_image8m_listener]: get-image8m-transport-time: 5.644 [INFO] [1724408815.473281017] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.995

[INFO] [1724408815.574779709] [shm_image8m_listener]: get-image8m-transport-time: 7.137 [INFO] [1724408815.574799848] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.022

[INFO] [1724408815.671018640] [shm_image8m_listener]: get-image8m-transport-time: 3.392 [INFO] [1724408815.671026302] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.985

[INFO] [1724408815.773532768] [shm_image8m_listener]: get-image8m-transport-time: 5.919 [INFO] [1724408815.773549611] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.986

[INFO] [1724408815.875099821] [shm_image8m_listener]: get-image8m-transport-time: 7.456 [INFO] [1724408815.875120361] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.031

[INFO] [1724408815.980660891] [shm_image8m_listener]: get-image8m-transport-time: 13.035 [INFO] [1724408815.980669282] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.983

[INFO] [1724408816.082307495] [shm_image8m_listener]: get-image8m-transport-time: 14.650 [INFO] [1724408816.082327961] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.031

[INFO] [1724408816.174721111] [shm_image8m_listener]: get-image8m-transport-time: 7.075 [INFO] [1724408816.174741396] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.989

[INFO] [1724408816.275144414] [shm_image8m_listener]: get-image8m-transport-time: 7.515 [INFO] [1724408816.275162265] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.984

[INFO] [1724408816.373111018] [shm_image8m_listener]: get-image8m-transport-time: 5.463 [INFO] [1724408816.373130611] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 100.018

[INFO] [1724408816.473375313] [shm_image8m_listener]: get-image8m-transport-time: 5.735 [INFO] [1724408816.473390244] [shm_image8m_listener]: get-image8m-timestamp_offset-time: 99.993

[INFO] [1724408805.494155807] [image_listener]: get-image-transport-time: 5.381 [INFO] [1724408805.494173413] [image_listener]: get-image-timestamp_offset-time: 199.993

[INFO] [1724408805.594189987] [image_listener]: get-image-transport-time: 5.393 [INFO] [1724408805.594210747] [image_listener]: get-image-timestamp_offset-time: 100.022

[INFO] [1724408805.694557600] [image_listener]: get-image-transport-time: 5.762 [INFO] [1724408805.694576467] [image_listener]: get-image-timestamp_offset-time: 99.999

[INFO] [1724408805.795168282] [image_listener]: get-image-transport-time: 6.372 [INFO] [1724408805.795191151] [image_listener]: get-image-timestamp_offset-time: 100.000

[INFO] [1724408805.894180071] [image_listener]: get-image-transport-time: 5.392 [INFO] [1724408805.894195961] [image_listener]: get-image-timestamp_offset-time: 99.993

[INFO] [1724408805.994215526] [image_listener]: get-image-transport-time: 5.419 [INFO] [1724408805.994232247] [image_listener]: get-image-timestamp_offset-time: 100.008

[INFO] [1724408806.094444166] [image_listener]: get-image-transport-time: 5.648 [INFO] [1724408806.094463644] [image_listener]: get-image-timestamp_offset-time: 100.000

[INFO] [1724408806.194835166] [image_listener]: get-image-transport-time: 6.048 [INFO] [1724408806.194856653] [image_listener]: get-image-timestamp_offset-time: 99.990

[INFO] [1724408806.294184906] [image_listener]: get-image-transport-time: 5.397 [INFO] [1724408806.294201913] [image_listener]: get-image-timestamp_offset-time: 100.002

[INFO] [1724408806.394072807] [image_listener]: get-image-transport-time: 5.290 [INFO] [1724408806.394091949] [image_listener]: get-image-timestamp_offset-time: 99.994

[INFO] [1724408806.493855733] [image_listener]: get-image-transport-time: 5.078 [INFO] [1724408806.493872418] [image_listener]: get-image-timestamp_offset-time: 99.996

[INFO] [1724408806.594953803] [image_listener]: get-image-transport-time: 6.164 [INFO] [1724408806.594975456] [image_listener]: get-image-timestamp_offset-time: 100.011

[INFO] [1724408806.694499912] [image_listener]: get-image-transport-time: 5.693 [INFO] [1724408806.694518076] [image_listener]: get-image-timestamp_offset-time: 100.018

[INFO] [1724408806.795307140] [image_listener]: get-image-transport-time: 6.515 [INFO] [1724408806.795329163] [image_listener]: get-image-timestamp_offset-time: 99.985

[INFO] [1724408806.895786321] [image_listener]: get-image-transport-time: 6.990 [INFO] [1724408806.895808876] [image_listener]: get-image-timestamp_offset-time: 100.004

[INFO] [1724408806.995061873] [image_listener]: get-image-transport-time: 6.264 [INFO] [1724408806.995081518] [image_listener]: get-image-timestamp_offset-time: 100.002

[INFO] [1724408807.095108502] [image_listener]: get-image-transport-time: 6.298 [INFO] [1724408807.095128393] [image_listener]: get-image-timestamp_offset-time: 100.013

[INFO] [1724408807.194681792] [image_listener]: get-image-transport-time: 5.876 [INFO] [1724408807.194697567] [image_listener]: get-image-timestamp_offset-time: 99.996

[INFO] [1724408807.294836644] [image_listener]: get-image-transport-time: 6.022 [INFO] [1724408807.294853635] [image_listener]: get-image-timestamp_offset-time: 100.008

[INFO] [1724408807.396131651] [image_listener]: get-image-transport-time: 7.334 [INFO] [1724408807.396156404] [image_listener]: get-image-timestamp_offset-time: 99.983

[INFO] [1724408807.496187813] [image_listener]: get-image-transport-time: 7.387 [INFO] [1724408807.496213020] [image_listener]: get-image-timestamp_offset-time: 100.002

[INFO] [1724408807.595475244] [image_listener]: get-image-transport-time: 6.673 [INFO] [1724408807.595499256] [image_listener]: get-image-timestamp_offset-time: 100.002

[INFO] [1724408807.695353652] [image_listener]: get-image-transport-time: 6.555 [INFO] [1724408807.695373310] [image_listener]: get-image-timestamp_offset-time: 99.996

[INFO] [1724408807.796038366] [image_listener]: get-image-transport-time: 7.228 [INFO] [1724408807.796063470] [image_listener]: get-image-timestamp_offset-time: 100.012

[INFO] [1724408807.894733053] [image_listener]: get-image-transport-time: 5.928 [INFO] [1724408807.894751257] [image_listener]: get-image-timestamp_offset-time: 99.995

[INFO] [1724408807.994445497] [image_listener]: get-image-transport-time: 5.634 [INFO] [1724408807.994466042] [image_listener]: get-image-timestamp_offset-time: 100.006

[INFO] [1724408808.094917322] [image_listener]: get-image-transport-time: 6.105 [INFO] [1724408808.094937091] [image_listener]: get-image-timestamp_offset-time: 100.000

[INFO] [1724408808.195683930] [image_listener]: get-image-transport-time: 6.805 [INFO] [1724408808.195707167] [image_listener]: get-image-timestamp_offset-time: 100.067

[INFO] [1724408808.294091069] [image_listener]: get-image-transport-time: 5.298 [INFO] [1724408808.294110220] [image_listener]: get-image-timestamp_offset-time: 99.915

[INFO] [1724408808.394164684] [image_listener]: get-image-transport-time: 5.359 [INFO] [1724408808.394184549] [image_listener]: get-image-timestamp_offset-time: 100.012

[INFO] [1724408808.494488510] [image_listener]: get-image-transport-time: 5.695 [INFO] [1724408808.494509197] [image_listener]: get-image-timestamp_offset-time: 99.987

[INFO] [1724408808.594897703] [image_listener]: get-image-transport-time: 6.099 [INFO] [1724408808.594920553] [image_listener]: get-image-timestamp_offset-time: 100.006

[INFO] [1724408808.694870606] [image_listener]: get-image-transport-time: 6.059 [INFO] [1724408808.694889125] [image_listener]: get-image-timestamp_offset-time: 100.012

[INFO] [1724408808.794047394] [image_listener]: get-image-transport-time: 5.252 [INFO] [1724408808.794066187] [image_listener]: get-image-timestamp_offset-time: 99.985

[INFO] [1724408808.895330150] [image_listener]: get-image-transport-time: 6.516 [INFO] [1724408808.895352739] [image_listener]: get-image-timestamp_offset-time: 100.018

[INFO] [1724408808.995015707] [image_listener]: get-image-transport-time: 6.122 [INFO] [1724408808.995035776] [image_listener]: get-image-timestamp_offset-time: 100.080

[INFO] [1724408809.095204581] [image_listener]: get-image-transport-time: 6.401 [INFO] [1724408809.095226881] [image_listener]: get-image-timestamp_offset-time: 99.909

[INFO] [1724408809.194592078] [image_listener]: get-image-transport-time: 5.792 [INFO] [1724408809.194610128] [image_listener]: get-image-timestamp_offset-time: 99.996

[INFO] [1724408809.294711829] [image_listener]: get-image-transport-time: 5.904 [INFO] [1724408809.294733825] [image_listener]: get-image-timestamp_offset-time: 100.008

[INFO] [1724408809.394868181] [image_listener]: get-image-transport-time: 6.047 [INFO] [1724408809.394887060] [image_listener]: get-image-timestamp_offset-time: 100.015

[INFO] [1724408809.494761171] [image_listener]: get-image-transport-time: 5.957 [INFO] [1724408809.494782155] [image_listener]: get-image-timestamp_offset-time: 99.983

[INFO] [1724408809.594186825] [image_listener]: get-image-transport-time: 5.384 [INFO] [1724408809.594205954] [image_listener]: get-image-timestamp_offset-time: 99.998

[INFO] [1724408809.694585794] [image_listener]: get-image-transport-time: 5.776 [INFO] [1724408809.694607228] [image_listener]: get-image-timestamp_offset-time: 100.007

[INFO] [1724408809.794797598] [image_listener]: get-image-transport-time: 5.972 [INFO] [1724408809.794823853] [image_listener]: get-image-timestamp_offset-time: 100.016

[INFO] [1724408809.894323821] [image_listener]: get-image-transport-time: 5.519 [INFO] [1724408809.894343564] [image_listener]: get-image-timestamp_offset-time: 99.979

[INFO] [1724408809.994628991] [image_listener]: get-image-transport-time: 5.798 [INFO] [1724408809.994650408] [image_listener]: get-image-timestamp_offset-time: 100.027

[INFO] [1724408810.095942025] [image_listener]: get-image-transport-time: 7.125 [INFO] [1724408810.095968307] [image_listener]: get-image-timestamp_offset-time: 99.985

[INFO] [1724408810.194946080] [image_listener]: get-image-transport-time: 6.112 [INFO] [1724408810.194965333] [image_listener]: get-image-timestamp_offset-time: 100.018

[INFO] [1724408810.294524863] [image_listener]: get-image-transport-time: 5.716 [INFO] [1724408810.294544387] [image_listener]: get-image-timestamp_offset-time: 99.976

[INFO] [1724408810.395727937] [image_listener]: get-image-transport-time: 6.897 [INFO] [1724408810.395748101] [image_listener]: get-image-timestamp_offset-time: 100.022

[INFO] [1724408810.494533848] [image_listener]: get-image-transport-time: 5.636 [INFO] [1724408810.494549705] [image_listener]: get-image-timestamp_offset-time: 100.067

[INFO] [1724408810.594442631] [image_listener]: get-image-transport-time: 5.547 [INFO] [1724408810.594460108] [image_listener]: get-image-timestamp_offset-time: 99.998

[INFO] [1724408810.695737300] [image_listener]: get-image-transport-time: 6.839 [INFO] [1724408810.695759949] [image_listener]: get-image-timestamp_offset-time: 100.002

[INFO] [1724408810.795562558] [image_listener]: get-image-transport-time: 6.720 [INFO] [1724408810.795583752] [image_listener]: get-image-timestamp_offset-time: 99.944

[INFO] [1724408810.895679531] [image_listener]: get-image-transport-time: 6.850 [INFO] [1724408810.895704027] [image_listener]: get-image-timestamp_offset-time: 99.985

[INFO] [1724408810.997355845] [image_listener]: get-image-transport-time: 8.537 [INFO] [1724408810.997395934] [image_listener]: get-image-timestamp_offset-time: 99.990

[INFO] [1724408811.096616018] [image_listener]: get-image-transport-time: 7.776 [INFO] [1724408811.096685150] [image_listener]: get-image-timestamp_offset-time: 100.022

[INFO] [1724408811.195531661] [image_listener]: get-image-transport-time: 6.714 [INFO] [1724408811.195637384] [image_listener]: get-image-timestamp_offset-time: 99.977

[INFO] [1724408811.295977381] [image_listener]: get-image-transport-time: 7.158 [INFO] [1724408811.295996606] [image_listener]: get-image-timestamp_offset-time: 100.003

[INFO] [1724408811.396094889] [image_listener]: get-image-transport-time: 7.263 [INFO] [1724408811.396111209] [image_listener]: get-image-timestamp_offset-time: 100.013

[INFO] [1724408811.494936546] [image_listener]: get-image-transport-time: 6.109 [INFO] [1724408811.494958260] [image_listener]: get-image-timestamp_offset-time: 99.995

[INFO] [1724408811.595638158] [image_listener]: get-image-transport-time: 6.807 [INFO] [1724408811.595707556] [image_listener]: get-image-timestamp_offset-time: 100.000

[INFO] [1724408812.393134833] [image_listener]: get-image-transport-time: 4.299 [INFO] [1724408812.393150995] [image_listener]: get-image-timestamp_offset-time: 800.009

[INFO] [1724408812.494321275] [image_listener]: get-image-transport-time: 5.498 [INFO] [1724408812.494342164] [image_listener]: get-image-timestamp_offset-time: 99.987

[INFO] [1724408812.594805948] [image_listener]: get-image-transport-time: 5.979 [INFO] [1724408812.594826568] [image_listener]: get-image-timestamp_offset-time: 100.003

[INFO] [1724408812.696541427] [image_listener]: get-image-transport-time: 7.702 [INFO] [1724408812.696578408] [image_listener]: get-image-timestamp_offset-time: 100.012

[INFO] [1724408812.795457608] [image_listener]: get-image-transport-time: 6.636 [INFO] [1724408812.795489394] [image_listener]: get-image-timestamp_offset-time: 99.982

[INFO] [1724408812.894554418] [image_listener]: get-image-transport-time: 5.709 [INFO] [1724408812.894580209] [image_listener]: get-image-timestamp_offset-time: 100.025

[INFO] [1724408812.994235189] [image_listener]: get-image-transport-time: 5.401 [INFO] [1724408812.994256928] [image_listener]: get-image-timestamp_offset-time: 99.989

[INFO] [1724408813.095880446] [image_listener]: get-image-transport-time: 7.035 [INFO] [1724408813.095906671] [image_listener]: get-image-timestamp_offset-time: 100.011

[INFO] [1724408813.194876764] [image_listener]: get-image-transport-time: 6.043 [INFO] [1724408813.194898688] [image_listener]: get-image-timestamp_offset-time: 99.988

[INFO] [1724408813.294443466] [image_listener]: get-image-transport-time: 5.595 [INFO] [1724408813.294462897] [image_listener]: get-image-timestamp_offset-time: 100.015

[INFO] [1724408813.394194213] [image_listener]: get-image-transport-time: 5.351 [INFO] [1724408813.394211719] [image_listener]: get-image-timestamp_offset-time: 99.994

[INFO] [1724408813.494158179] [image_listener]: get-image-transport-time: 5.314 [INFO] [1724408813.494177538] [image_listener]: get-image-timestamp_offset-time: 100.001

[INFO] [1724408813.594157811] [image_listener]: get-image-transport-time: 5.307 [INFO] [1724408813.594215398] [image_listener]: get-image-timestamp_offset-time: 100.007

[INFO] [1724408813.694086991] [image_listener]: get-image-transport-time: 5.257 [INFO] [1724408813.694105398] [image_listener]: get-image-timestamp_offset-time: 99.978

[INFO] [1724408813.794210482] [image_listener]: get-image-transport-time: 5.348 [INFO] [1724408813.794228008] [image_listener]: get-image-timestamp_offset-time: 100.033

[INFO] [1724408813.894145042] [image_listener]: get-image-transport-time: 5.314 [INFO] [1724408813.894162714] [image_listener]: get-image-timestamp_offset-time: 99.968

The program runs in docker

ZhenshengLee commented 3 weeks ago

export FASTRTPS_DEFAULT_PROFILES_FILE=$HOME/shm_fastdds.xml

did you copy the file to the home folder? https://github.com/ZhenshengLee/ros2_shm_msgs/blob/humble/config/shm_fastdds.xml

The program runs in docker

I didn't test it in docker, but I am sure the /dev/shm folder will be used by fastdds during ros2 communication.

humble loan messages is turned off by default and needs to be opened manually ：export ROS_DISABLE_LOANED_MESSAGES=0

It's the recent new feature, I didn't test with it.

After the configuration was successful, testing found no difference in latency, and even more volatile in some cases. But the memory consumption is smaller

Could you please check if the datasharing of fastdds is turn on? in fastdds, zerocopy = loaned api + datasharing. see https://fast-dds.docs.eprosima.com/en/v2.6.9/fastdds/use_cases/zero_copy/zero_copy.html#writing-and-reading-in-zero-copy-transfers

https://github.com/ZhenshengLee/ros2_shm_msgs/blob/42fde5f188dc5a55be54718cbb601539d2823815/README.md?plain=1#L110-L117

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp export FASTRTPS_DEFAULT_PROFILES_FILE=$HOME/shm_fastdds.xml export RMW_FASTRTPS_USE_QOS_FROM_XML=1

The config of fastdds was confirmed by https://github.com/ros2/rmw_fastrtps/issues/636 , but I cannot gurantee it works for the year of 2024. You can take a look the rmw_fastrtps repo for any updates. EDIT: this may help. https://github.com/ros2/rmw_fastrtps/blob/37f7ef88fbec216d47883763f185bd39fc50b5a1/README.md?plain=1#L263-L299

Morning-zz commented 3 weeks ago

Checked. It's already on

/dev/shm/fastrtps_2191af2cf197f25e /dev/shm/fastrtps_d33d7dcdce88dd25 /dev/shm/fastrtps_2191af2cf197f25e_el /dev/shm/fastrtps_d33d7dcdce88dd25_el /dev/shm/fastrtps_500cb8f173d6586e /dev/shm/fastrtps_d41207b852a39c7b /dev/shm/fastrtps_500cb8f173d6586e_el /dev/shm/fastrtps_d41207b852a39c7b_el /dev/shm/fastrtps_8e31bf9cf2e6677c /dev/shm/fastrtps_d66c59fd2f8e01b6 /dev/shm/fastrtps_8e31bf9cf2e6677c_el /dev/shm/fastrtps_d66c59fd2f8e01b6_el /dev/shm/fastrtps_a56ec46261f047ba /dev/shm/fastrtps_ed7e6bc96645e737 /dev/shm/fastrtps_a56ec46261f047ba_el /dev/shm/fastrtps_ed7e6bc96645e737_el /dev/shm/fastrtps_a864ce7f5aa9a693 /dev/shm/fastrtps_f09a5080997d37c1 /dev/shm/fastrtps_a864ce7f5aa9a693_el /dev/shm/fastrtps_f09a5080997d37c1_el /dev/shm/fastrtps_c5899eafbb7144fe /dev/shm/fastrtps_port7413 /dev/shm/fastrtps_c5899eafbb7144fe_el /dev/shm/fastrtps_port7413_el

/dev/shm/fast_datasharing_01.0f.3d.ea.16.f9.be.d3.00.00.00.00_0.0.12.3 /dev/shm/fast_datasharing_01.0f.3d.ea.28.00.77.68.00.00.00.00_0.0.12.3 /dev/shm/fast_datasharing_01.0f.3d.ea.9c.f5.35.b2.00.00.00.00_0.0.12.3 /dev/shm/fast_datasharing_01.0f.3d.ea.ed.fe.fd.51.00.00.00.00_0.0.12.3

There may be a configuration problem that is different from the version of fastdds you are using. It needs to be revised and studied again.