How to use SHM in mico-ROS (Using docker)

Open
#206 4 comments 1 reaction 0 assignees View on GitHub

Nobody has claimed this yet.

Assessment

Difficulty
4/5
Estimated time
3-5 days
Newbie friendliness
25/100
Issue type
Documentation
Clarity
Needs clarification
Activity status
Stale
Tech stack
docker, ubuntu
Domain
distributed-systems, robotics

Research direction

Start with the issue's colcon.meta setting and the listed micro_ros_setup and micro_ros_agent commands. Check the repository documentation and configuration guidance for shared memory, Docker, and Cyclone DDS. Done means documenting whether this setup works without a microcontroller or Agent and listing any required modifications.

Written by the indexing model from the issue text.

Description

Issue template

  • Hardware description: docker, Ubuntu 22.04
  • RTOS:
  • Installation type:
  • Version or commit hash: humble
Steps to reproduce the issue

Hey, i have created a publisher and subscriber chain with micro-ROS nodes in a docker container , to analyze latencies. It works fine when i use the Agent. Now i want to use SHM. Therefore, i added "-DUCLIENT_PROFILE_SHARED_MEMORY=ON" to my colcon.meta. Do i still have to build the agent and the other steps like:

ros2 run micro_ros_setup build_firmware.sh
source install/local_setup.bash
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6

I am not using a microcontroller, does this still work.? I want to see how big the latency is with and without the Agent. I am using Cyclone DDS, is this maybe the problem?

All nodes are in the same container.

Are there any modifications I forgot to do ?

Expected behavior
Actual behavior
Additional information
Dominant language
C++
Stars
201
Forks
111
Avg merge
1d 6h
Merged PRs (30d)
10

Contributor guide

Open the contributing guide

First steps

  1. Read the whole issue, then the project's contributing guide.
  2. Comment on the issue to say you are picking it up — it saves two people doing the same work.
  3. Fork the repository and make your change on a branch.
  4. Open a pull request that references the issue number.

More from micro-ROS/micro-ROS-Agent

All issues in micro-ROS/micro-ROS-Agent

Similar issues

More C++ issues

Get new issues in your inbox

A short digest of beginner-friendly GitHub issues.