dmabuf_transport

dmabuf_transport is a package for zero-copy transport ROS message with Linux dma-buf file descriptor.

Overview

Dmabuf Transport provides a way to share data between different hardware accelerators and different ROS nodes with zero-copy.

It is built on ROS 2 Type Adaption. It allows us to define methods for serializing directly to the user requested type, and/or using that type in intra-process communication without ever converting it.

QuickStart

1. Add dependency in package.xml

   <depend>dmabuf_transport</depend>
   

2. Add dependency in CMakeLists.txt

   find_package(dmabuf_transport REQUIRED)
   
   ament_target_dependencies(${PROJECT_NAME}
     # ...
     dmabuf_transport
   )
   

3. Zero-copy transport dmabuf_transport types

   #include "dmabuf_transport/type/image.hpp"
   // create message
   auto msg = std::make_unique<dmabuf_transport::type::Image>();
   msg->header = std_msgs::msg::Header();
   // save message data to dmabuf
   auto dmabuf = lib_mem_dmabuf::DmaBuffer::alloc(1024, "/dev/dma_heap/system");
   // ... set data
   msg->dmabuf = dmabuf;
   
   // publish message
   pub_->publish(std::move(msg));
   

• Check test directory to find more details.

Supported Types

The following table lists current supported types:

Dmabuf Transport Type	ROS Interface
dmabuf_transport::type::Image	sensor_msgs::msg::Image
dmabuf_transport::type::PointCloud2	sensor_msgs::msg::PointCloud2