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ros2 / rmw_dps

Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe.
Apache License 2.0
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Reduce memory usage of publish #35

Closed malsbat closed 5 years ago

malsbat commented 5 years ago

This PR does two things:

  1. Avoid copying the message payload unnecessarily.
  2. Block the caller of rmw_publish() and friends until the message has been delivered to the network. This slows down rapid publishers to prevent unbounded growth of queued publish requests.