ros2_documentation icon indicating copy to clipboard operation
ros2_documentation copied to clipboard
verified publisher icon ros2

Document interaction between Type-Adapters and intra-process communication

Open ottojo opened this issue 3 years ago • 2 comments

Rclcpp seems to have implemented intra-process communication without serializing custom data types to ROS messages when the apropriate type adapters are used: https://github.com/ros2/rclcpp/issues/1664, but this is not documented.

The type adapter is already used in the subscriber and publisher examples.

The demos repo contains an adapter for cv::Mat (header, implementation) which is used in cam2image.cpp

ottojo avatar Mar 29 '22 12:03 ottojo

I found more information in this comment to the PR implementing this feature: https://github.com/ros2/rclcpp/pull/1849#issuecomment-998278233

ottojo avatar Mar 29 '22 12:03 ottojo

Thanks, appreciated. I put it on the list of things to look at during the Humble documentation/release process.

clalancette avatar Mar 29 '22 12:03 clalancette