stereolabs
ipc node for zed components
Preliminary Checks
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Proposal
Copying images is not good. ROS2 has support for IPC, so why not use it. The changes should not be very large, maybe there is even another way to do it. What do you think?
Use-Case
No response
Anything else?
https://docs.ros.org/en/foxy/Tutorials/Intra-Process-Communication.html
Hi @felrock there is a problem with IPC: it does not support topics with TRANSIENT LOCAL (latched messages) QoS: https://github.com/stereolabs/zed-ros2-wrapper/blob/master/zed_components/src/zed_camera/src/zed_camera_component.cpp#L3402-L3411
If you try to enable IPC the nodelet fails at starting with an error related to this QoS setting.
Any suggestion?
Hey, okey that makes sense. How about changing the QoS to volatile or using the SensorDataQoS (like in the tutorial?
Yes, we could do that. A latched topic is better in that case because it's information that never changes.
But also camera_info is information that never changes but it's published with each camera frame...
I noted the feature request and I'm going to work on the modification in the next few days.
Here is another piece of code that could be interesting for this case, https://github.com/ros2/demos/blob/master/demo_nodes_cpp/src/topics/talker_loaned_message.cpp It uses iceorxy for IPC
IPC now is available in the ros2_humble branch and it will be merged soon into the master branch
@felrock The branch is compatible with Foxy, so you can test it.
See commit https://github.com/stereolabs/zed-ros2-wrapper/commit/197c55db9f40e0d6af70555a064b0e1f592ac49a