[FEA] add type adaptation feature in Humble.
ZhenshengLee opened this issue · comments
VictorLee commented
see
ros2/demos#482
ros2/demos#583
ros-perception/vision_opencv#441
I don't see the priority, cause it doesn't improve the performance.
VictorLee commented
But in rclcpp-intra-process, type conversion is avoided, see following
ros2/rclcpp#1849
ros2/ros2_documentation#2377
ros2/rclcpp#1664
this make it possible to improve cuda performance, because cudamemcpy canbe avoided too!
see this example of intra-process-cuda-image-pipeline https://github.com/NVIDIA-ISAAC-ROS/ros2_examples/tree/humble/rclcpp/type_adaptation/accelerated_pipeline
Anyway , rclcpp-intra-process is not for ros2_shm_msgs.