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v-kiniv / rws

WebSocket gateway for ROS2 topics and services
Apache License 2.0
10 stars 7 forks source link

Standalone Component separate from main executable #2

Open zflat opened 1 year ago

zflat commented 1 year ago

Hi @v-kiniv

One great benefit that this websocket server can have over a python based on is the ability to run it as a component node in the same process as other c++ nodes to help share memory for ROS messages. So to get the best benefits of using c++ over python, consider exposing the node as a component. See https://docs.ros.org/en/humble/Concepts/About-Composition.html

v-kiniv commented 1 year ago

Good idea, I'll look into it. Thanks.