The feasibility to implement the partial serialization method with iceoryx.

[ZhenshengLee]

As the earlier discussion said, the many number of message type breaks the concept of ros msg definition.

Then I checked a paper of IROS 2019 which describes a novel serialization method to get control (struct ) info transported with socket and data info transported with shm(actually with boost-shm). See https://github.com/Jrdevil-Wang/tzc_transport , and ros discource

My idea is to replace the boost-shm(shm transport without pub-sub) with rclcpp-shm(iceoryx with pub-sub), which could reuse existed loan-msg api of rclcpp.

Let's have a review of this idea before developing a demo.

@mossmaurice @budrus

Thanks.

[ZhenshengLee]

Track with ros discourse, closing this.