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5.1.2. Efficient intra-process communication:

5.1.2.1. Introduction

Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.

You will need to launch a component container and launch our node as a component together with other component nodes. Further details on “Composing multiple nodes in a single process” can be found here.

Further details on efficient intra-process communication can be found here.

5.1.2.2. Example

Manually loading multiple components into the same process

• Start the component:

  ros2 run rclcpp_components component_container
  

• Add the wrapper:

  ros2 component load /ComponentManager orbbec_camera orbbec_camera::OBCameraNodeDriver -e use_intra_process_comms:=true
  

  Load other component nodes (consumers of the wrapper topics) in the same way.

Using a launch file

ros2 launch orbbec_camera gemini_intra_process_demo_launch.py

Limitations

• Node components are currently not supported on RCLPY

• Compressed images using image_transport will be disabled as this isn’t supported with intra-process communication