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Currently ros_gz_bridge provides a ROS node that runs as a separate process. This means, both Gazebo<-> ros_gz and ros_gz<-> ROS incur the cost of serialization and network transport.
With #500 we're adding a ROS node that starts Gazebo instead of using the gz sim CLI. This node and ros_gz_bridge can be turned into a ROS components that can be run in the same container (same process).
ros_gz_image and ros_gz_pointcoud can be reimplemented or deprecated since the were created to overcome the serialization cost of image and pointcloud transport.
The text was updated successfully, but these errors were encountered:
Complementary to #490
Desired behavior
Currently
ros_gz_bridge
provides a ROS node that runs as a separate process. This means, both Gazebo<->ros_gz
andros_gz
<-> ROS incur the cost of serialization and network transport.Alternatives considered
#490
Implementation suggestion
With #500 we're adding a ROS node that starts Gazebo instead of using the
gz sim
CLI. This node andros_gz_bridge
can be turned into a ROS components that can be run in the same container (same process).ros_gz_image
andros_gz_pointcoud
can be reimplemented or deprecated since the were created to overcome the serialization cost of image and pointcloud transport.The text was updated successfully, but these errors were encountered: