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+# Efficient intra-process communication:
+
+Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.
+
+You will need to launch a component container and launch our node as a component together with other component nodes. Further details on "Composing multiple nodes in a single process" can be found [here](https://docs.ros.org/en/rolling/Tutorials/Composition.html).
+
+Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
+
+## Example
+
+### Manually loading multiple components into the same process
+
+* Start the component:
+
+  ```bash
+  ros2 run rclcpp_components component_container
+  ```
+* Add the wrapper:
+
+  ```bash
+  ros2 component load /ComponentManager orbbec_camera orbbec_camera::OBCameraNodeDriver -e use_intra_process_comms:=true
+  ```
+
+  Load other component nodes (consumers of the wrapper topics) in the same way.
+
+### Using a launch file
+
+```bash
+ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
+```
+
+### Limitations
+
+* Node components are currently not supported on RCLPY
+* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication