Currently ros_gz_bridge provides a ROS node that runs as a separate process. This means, both Gazebo<-> ros_gz and ros_gz<-> ROS incur the cost of serialization and network transport.
Alternatives considered
490
Implementation suggestion
With #500 we're adding a ROS node that starts Gazebo instead of using the gz sim CLI. This node and ros_gz_bridge can be turned into a ROS components that can be run in the same container (same process).
ros_gz_image and ros_gz_pointcoud can be reimplemented or deprecated since the were created to overcome the serialization cost of image and pointcloud transport.
Complementary to #490
Desired behavior
Currently
ros_gz_bridgeprovides a ROS node that runs as a separate process. This means, both Gazebo<->ros_gzandros_gz<-> ROS incur the cost of serialization and network transport.Alternatives considered
490
Implementation suggestion
With #500 we're adding a ROS node that starts Gazebo instead of using the
gz simCLI. This node andros_gz_bridgecan be turned into a ROS components that can be run in the same container (same process).ros_gz_imageandros_gz_pointcoudcan be reimplemented or deprecated since the were created to overcome the serialization cost of image and pointcloud transport.