bjsowa
commented
4 months ago are you planning to make some changes in
image_transport_pluginstoo ? using this new API ?
I don't see how the compressed image transports can take advantage of the image ownership as they still have to copy the data, BUT they might avoid copying the resulting compressed data by publishing it using std::unique_ptr so I was planning to make them use the more generic publish(const sensor_msgs::msg::Image & message, const PublisherT & publisher) method to publish unique_ptr instead of const reference.
ahcorde
mergify[bot]
ROS2 supports intra-process communication when composing multiple nodes in a single process. It additionally can avoid doing any copies of the data when published using
std::unique_ptr<MessageT>and subscribed usingshared_ptr<const MessageT>orstd::unique_ptr<MessageT>(at most 1 subscriber)This PR is my attempt to add support for publishing using
std::unique_ptrwithout breaking any of the existing APIs.The idea is that:
rawcan take advantage of the ownership).Publisher::publish(sensor_msgs::msg::Image::UniquePtr message)method first publishes using the const reference to plugins that don't supportstd::unique_ptr, then moves the ownership of the message to (at most 1) plugin that supports it.std::unique_ptrand has subscriptions, we pass the ownership to only one such plugin (the first we find), and for the rest we still use const reference, delegating doing any extra copies to plugin implementations.Related issues/prs:
212
215
216 (kinda)