Is there a way to obtain the address of shared memory at init phase ?

[lix19937]

The loan API allows for true zero-copy transfer by directly consctructing the message data in Shared Memory. To do so, we first have to loan this Shared Memory chunk explicitly.

// init phase 
std::set<void *> ptr_set;

// in callback phase at runtime  
auto loaned_msg = pub_->borrow_loaned_message();
loaned_msg.get().data = count_++;
pub_->publish(std::move(loaned_msg));
ptr_set.insert(&(loaned_msg.get().data));

I found ptr_set.size() = N // N is a const number

[fujitatomoya]

@lix19937 can you close this issue? this is more like a question, please consider to post this kind of question to https://robotics.stackexchange.com/ where is the centralized QA site. it is likely that you can get the feedback against the questions from community.

[lix19937]

OK, thanks @fujitatomoya