2021 08 05 Eclipse iceoryx developer meetup

Eclipse iceoryx developer meetup

Date: 2021/08/05

Time: 17:00 CET

Link: https://eclipse.zoom.us/j/95918504483?pwd=RWM5Y1pkeStKVDZsU09EY1hnclREUT09

Attendees

• Michael Pöhnl, Apex.AI
• Indra, Avin Systems
• Victor Lee, bright dream robotics
• Vamsi, Lear Corp.
• Simon, Apex.AI
• Matthias Killat, Apex.AI
• Mathias "Bob" Kraus, Apex.AI

Agenda

1. General: Are there other agenda points?, 2 mins
2. Shared memory messages for ROS 2 link
3. Communication between two threads in one process, Vamsi
4. Multiple parameters for request/response, Indra

Minutes

2. Shared memory messages for ROS 2

• First version for fixed-size image and point cloud messages
• Introduced a fixed string with 256 characters
• Different message types for point clouds defined, these are zero-copy capable but breaks the current idea of ROS where the community can reuse on message type for a lot of nodes. We would now have a lot of different messages
• RViz would need to be adapted

3. Communication between two threads in one process

• single_process example was used, this already contains a RouDi, so if it is started also as separate application there are two of them which is a problem
• a better starting point would maybe be to copy example code from publisher and subscriber application into one main(). CAUTION, only one runtime is needed then.

4. Multiple parameters for request/response

• For ara::com the parameters for a request have to be copied in the memory chunk that is sent with the request
• There is no allocate() for ara::com methods, so no way to have zero-copy as the parameter will come from the stack of the user
• ara::com is not efficient if large data like images are sent as parameters for methods. A change would be needed in the ara::com specification