Comments (3)
gezp
commented on July 29, 2024
考虑引入新的相机管理模型（CamServerManager），提供add_cam_server() , get_cam_server()两个API，每次创建新的CamServer时，将其加入CamServerManager中，并且CamServerManager采用shared pointer类型，可以共享给每一个CamClient (IntraCamClient), 如图所示
- 对于Dynamic Composition，本质上是插件（动态库加载），需要构建自定义
NodeFactory，构建增强的ComponentManager(支持自定义类型component) 以及component_container.
实现步骤
- 新增
CamServerManager，并适配IntraCamClient: #9 - 增加基于CamServerManager的component container，实现容器内节点之间图像直接传输，而不经过ROS通信机制 : #10
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gezp
commented on July 29, 2024
根据 #11 中的测试结果，composition机制能够很好的降低延迟，几乎不产生丢帧，特别是rclcpp use_intra_process_comms 特性，几乎达到了#10 提出的基于CamServerManager 专用 component container 方案。目前rclcpp use_intra_process_comms 处于实验开发阶段，支持不够完善，使用仍需谨慎。
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gezp
commented on July 29, 2024
done
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Related Issues (11)
- Support TimeSynchronizer for CamClient HOT 1
- Support set and get camera parameters methods in CamClient
- 编译的时候报错 HOT 4
- ROS Humble Migration HOT 2
- Wrong argument call for projectile solver
- Support image_transport for CamServer HOT 5
- I wonder why the default databits is 8 HOT 4
- Add camera_info topic to `rmoss_cam` HOT 6
- uart_transporter cannot run in component HOT 5
- 64字节传输的时，每次flush会频繁导致FixedPacketTool::recv_packet失败
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