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36 lines
1.4 KiB
Markdown
36 lines
1.4 KiB
Markdown
# Efficient intra-process communication:
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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.
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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).
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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).
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## Example
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### Manually loading multiple components into the same process
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* Start the component:
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```bash
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ros2 run rclcpp_components component_container
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```
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* Add the wrapper:
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```bash
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ros2 component load /ComponentManager orbbec_camera orbbec_camera::OBCameraNodeDriver -e use_intra_process_comms:=true
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```
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Load other component nodes (consumers of the wrapper topics) in the same way.
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### Using a launch file
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```bash
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ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
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```
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### Limitations
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* Node components are currently not supported on RCLPY
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* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication
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