ROS2 Shared Memory

ROS2 Automated Benchmarks
March 6, 2020
March 5, 2020

In many ROS2 use cases, the different ROS2 nodes are in the same computer, or even in the same process. In these scenarios, usually the loopback interface is used, as the available support for a shared memory mechanism is very limited: Either the user should buy a commercial implementation of the underlying ROS2 middleware (DDS), or use some experimental solutions, just available for intra-process comms.

We propose to create an open source Shared Memory transport for ROS2. This feature is necessary when sharing large messages (images, video, LIDAR…) in applications in which performance and CPU use are critical.