ros_gz
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Run Gazebo and `ros_gz_bridge` as ROS components in the same process
Complementary to #490
Desired behavior
Currently ros_gz_bridge
provides a ROS node that runs as a separate process. This means, both Gazebo<-> ros_gz
and ros_gz
<-> ROS incur the cost of serialization and network transport.
Alternatives considered
#490
Implementation suggestion
With #500 we're adding a ROS node that starts Gazebo instead of using the gz sim
CLI. This node and ros_gz_bridge
can be turned into a ROS components that can be run in the same container (same process).
ros_gz_image
and ros_gz_pointcoud
can be reimplemented or deprecated since the were created to overcome the serialization cost of image and pointcloud transport.