Currently yes. But as we have mentioned in the future work, we are planning to provide this kind of compatibility. For ROS1, the publisher-subscriber link mechanism makes this plan feasible, but we still have no idea how to support it for ROS2. --- [Visit Topic](https://discourse.ros.org/t/tzc-efficient-inter-process-communication-for-robotics-middleware-with-partial-serialization/6264/13) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: