eProsima Shared Memory is an open source feature since Fast RTPS 1.10.x. This feature consists of software components interchanging data messages in the same machine using a transport layer suitable for real-time publish subscribe DDS.
eProsima Shared Memory:
- Increases performance in interprocess communication
- Reduces memory copies
- Uses portable shared memory library
Why use the Shared Memory?
The normal data communication in ROS 2 uses the loopback mechanism of the operating system. While this is good enough for many cases, in the case of large data and multiple subscribers, a shared memory transport can reduce significantly latency and CPU use while increasing the throughput.
Available Documentation:
- Shared Memory - Fast DDS docs as a form of transport
- Shared Memory - the Github project
- Shared Memory - at the ROSCon 2019 in Macau
More information about the eProsima Discovery Server:
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