Revision history [back]

Would you be able to use intra-process communication? This entails composing your nodes in a single process, either statically at compile time, or dynamically at run time; see the documentation. This allows for zero-copy passing of your messages that bypasses the middleware.

There is still a little bit of additional overhead, and you may not be able to use all QoS options[1], but in general I found it works well and is mostly RMW independent.

[1] See this design document