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VictorLee

[ROS2] Intra-process-comm support in CameraPublisher

@fhwedel-hoe First of all, when I say IPC, I mean inter-process-comm(socket, shm(minimum copy), zero-copy), intra-process-comm is not included. > ros2 already does support efficient IPC in some circumstances (e.g. when...

[ROS2] Intra-process-comm support in CameraPublisher

> > Oh, this is what you really need, an intra-process shared pointer. > > Indeed. If I there was an option of loaning a message once and then re-use...

Cuda filter demo, cuda-pcl is worse than pcl if MemCpyTime(4.6285ms) is considered.

> In my case , it costs 0.000736ms. But when I use the VoxelGrid in cuda-pcl, it's worse than pcl. @NJUSTzwh Hi Your time comsuming looks creazy, could you share...

Cuda filter demo, cuda-pcl is worse than pcl if MemCpyTime(4.6285ms) is considered.

> 请问你的测试机器是？ the program was tested on jetson xavier.

[FEA] add type adapter feature for point cloud data type.

@SteveMacenski Thanks for your attention! would you please read this https://github.com/ZhenshengLee/ros2_shm_msgs/issues/25 and give some comments on zero-copy of ros2 from the view of perception?

[FEA]Add support to callback-group executor as a proof of finer control of realtime profile.

As the current v0.1 arch is about multi-process-node with StaticSingleThreadedExecutor by a node, I don't see it necessary to add the executor-level-cbg. But I would like to keep it open.