HorizonRDK/hobot_shm

hobot_shm is a ROS2 package, which is used to configure the ROS2 zero-copy environment.

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Feature Introduction

hobot_shm is used to configure the ROS2 zero-copy environment, including the shm_fastdds.xml configuration file and hobot_shm.launch.py configuration script.

Instructions

To use, include the hobot_shm.launch.py configuration script in your launch startup script using the IncludeLaunchDescription command.

from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python import get_package_share_directory

def generate_launch_description():
    return LaunchDescription([
        # Start the zero-copy environment configuration node
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                os.path.join(
                    get_package_share_directory('hobot_shm'),
                    'launch/hobot_shm.launch.py'))
        )
    ])