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Enable Iceoryx shared memory support in Cyclone DDS #145

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merged 31 commits into from
Aug 16, 2023

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gmartin82
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This PR adds support for Iceoryx shared memory within Cyclone DDS.

Shared memory support is enabled through the optional dds_shm feature and currently has the following limitations:

  • Not applicable when the --fwd-discovery option is used.
  • Only data readers of compatible types are able to gain any benefit from enabling the feature.
  • ROS2 types are unable to benefit from shared memory. This is a limitation of Cyclone DDS's RMW implementation and may be solved in future by this PR.

README.md Show resolved Hide resolved
$ cargo build --release -p zenoh-bridge-dds --features dds_shm
```

See [here](https://cyclonedds.io/docs/cyclonedds/latest/shared_memory/shared_memory.html) for more details of shared memory support in Cyclone DDS.
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Add a note wrt. iox-roundi (to be started or not - what happens if not started)

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Requested information added.

DEFAULT_CONFIG.json5 Show resolved Hide resolved
zenoh-plugin-dds/src/dds_mgt.rs Show resolved Hide resolved
@JEnoch JEnoch merged commit 0bf4792 into eclipse-zenoh:master Aug 16, 2023
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2 participants