NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_nitros
How to impl zero-copy when send a message out-of-process to cuda ?
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- Dominant language
- C++
- Stars
- 220
- Forks
- 55
- PR merge metrics
- No merged PRs in 30d
Description
NOTE:
Two nodes are run at different processes. The ros2 msg memory is on cpu side, and next node(the sub side) want to receive the msg(like camera data), and then accelerate on gpu to infer.
I found, if user want to leverage the benefit of zero-copy in NITROS, all NITROS-accelerated nodes must run in the same process.
ref
https://nvidia-isaac-ros.github.io/concepts/nitros/index.html
Contributor guide
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with the linked NITROS documentation and the issue’s same-process versus separate-process setup. Determine whether zero-copy transfer of CPU-side ROS 2 message data into a GPU-accelerated subscriber is supported across processes and what constraints apply. Done would require a documented, actionable approach or a clearly scoped implementation plan.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- distributed-systems, robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100