Can I pass in node options (e.g., IPC=true) when composing nodes using the CLI or launch files

asked 2019-07-10 13:42:53 -0500

clyde gravatar image

updated 2019-07-12 13:05:41 -0500

This demo shows how IPC works: https://github.com/ros2/demos/tree/ma...

The nodes in this demo are all defined such that use_intra_process_communications is initialized to true when the node is constructed.

This demo shows how composition works: https://github.com/ros2/demos/tree/ma...

The nodes in this demo are all defined such that somebody -- the node container? -- passes in node options when the nodes are instantiated. This appears to be a requirement for composition.

Is there a way to specify node options (e.g., use_intra_process_communications=true) using the ros2 CLI or using launch files? I'm not seeing anything in the Python launch code.

Edit: I'm skimming the rclcpp and rcl code, and I see that some arguments are parsed (params, log handling, etc.), but I don't see anything to turn IPC on/off. Is there a feature request / bug tracking this?

Edit 2: It appears that the answer is "no", and this is the issue: https://github.com/ros2/rclcpp/issues...

Thanks.

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