Alberto Soragna

In my mind, these are the main requirements for the ROS publish-subscribe APIs: - A single, configurable API allows a node to publish messages. The user shouldn't write code with...

Quoting @wjwwood > I wonder about the hybrid approach we had in the past where the pointers and actual data were handled in rclcpp, but a message was passed via...

> Did I interpret that right? Yes, that's how I expect the performance to be. We can probably say that we have improvements only for messages around 300KB-400KB or above....

> If there's a way to tell the middleware not to deliver the data twice that can just be a pub/sub option at the rmw layer. I think we need...

Yes, you are right. The second flag (passed on every publication) is not needed. About the dds option to "ignore local publications", if it's set to true it will ignore...

Let me try to recap all the possible action items mentioned so far. 1. Fix double delivery problem with Inter- and Intra-process enabled at the same time. 2. Extend Intra-Process...

Thank you for the PR. Indeed there is currently a gap between the design and the implementation of lifecycle nodes. This applies also to subscriptions. However, I think that this...

Mmm, I need to double check, but I'm afraid that this approach may result in the executor continuously trying to take the request and so, never going back to sleep....

In general, I think it would be better to keep the concept of active/inactive entities confined to a lifecycle wrapper. However, we currently have that in `rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp` we add services...

Hi @ivanpauno @fujitatomoya , it looks like all comments have been addressed. Any reason for not moving forward with this PR?