[ros-users] [Discourse.ros.org] [Next Generation ROS] Astra driver for ROS2

[William Woodall]

There could be something obvious that could significantly improve `convert_ros_message_to_dds` for CoreDX, but it would be interesting to see if this is also the case with Connext (I'm not sure FastRTPS would be apples to apples since it uses type support introspection to serialize/deserialize). We always knew that this function was wasted work, but to get rid of it, we need to have the ability in the middleware to publish and take serialized data directly rather than delegating serialization/deserialization to the middleware. That way we can do the "ROS message struct" -> CDR serialized buffer directly skipping the convert function. I know we could do this in FastRTPS, but I'm not sure about Connext. Also FastRTPS currently uses the introspection API which will be slower than statically generated code to do the conversions. We can likely get a huge speed up there by providing a static version of type support for FastRTPS.





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