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Hi, I would like to know if it is possible to take advantage of the IPC with ROS2 Composition with the Nav2 stack.
In particular, I would like to put a node that publishes a point cloud and the STVL node in the same container to use zero-copy and so reduce the communication overhead.
Is this feasible? Are there existing examples?
Thank you, Walter
Have you viewed Nav2's docs on node composition? Seems like dynamic-composition section and the composition_demo.launch.py example linked there in would be of interest here:
That doesn't provide IPC unfortunately because the IPC APIs are not complete as of yet for the full range of QoS settings (which are used in various places in the stack). But composition largely bridges that gap very well, even without IPC specifically enabled!
Asked: 2022-09-29 08:28:06 -0500
Seen: 127 times
Last updated: Sep 29 '22
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