[ros-users] Why ROS doesn't have memory sharing mechanism between nodes in one machine?

K Chen chk0105 at gmail.com
Wed May 23 02:54:33 UTC 2012

Thanks for all your reply! It helps a lot.

On Wed, May 23, 2012 at 1:59 AM, Dirk Thomas <dthomas at willowgarage.com>wrote:

> Further more, if I want to use qt as GUI of image processing(just to
>> provide faster result showing and easier controlling), I cannot find
>> a way to get it into a nodelet because qt UI must live in the main
>> thread. So why ROS doesn't provide some more efficient data passing
>> mechanism such as inter-process memory sharing? I think this will
>> significantly increase large data flow performance.
> Running nodelets together with Qt in one process works absolutely fine.
> ROS GUI (which is currently under development - https://kforge.ros.org/**
> visualization/ros_gui <https://kforge.ros.org/visualization/ros_gui>)
> does exactly that.
> The Qt application is written in Python but plugins (written in either
> Python and C++ are executed in the same process.
> C++-plugins are mapped to nodelets internally so each C++-plugin can pass
> messages efficiently using boost::shared_ptr.
> Dirk
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University of Science and Technology of China
School of Computer Science and Technology
Multi-Agent System Lab

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