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ros2 / rmw_iceoryx

rmw implementation for iceoryx
Apache License 2.0
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The feasibility to implement the partial serialization method with iceoryx. #58

Closed ZhenshengLee closed 3 years ago

ZhenshengLee commented 3 years ago

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

image

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 commented 3 years ago

Track with ros discourse, closing this.