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© 2021 Apex.AI, Inc.
Safe and certified software
for autonomous mobility
Virtual Eclipse Community Meetup
20 July 2021
Matthias Killat
Using zero-copy data transfer
in ROS 2
1
© 2021 Apex.AI, Inc.
Using zero-copy data transfer in ROS 2
Agenda
● Why do we need zero-copy communication?
● Demonstrate how to use shared memory data transfer in ROS™ 2 Galactic
● Explain how Eclipse Cyclone DDS™ is used as ROS 2 middleware
● Show how Eclipse iceoryx™ is used for shared memory communication
Outline
Part 1
1. What is zero-copy data transfer and why do we need it?
2. ROS 2 communication
3. Eclipse Cyclone DDS
4. Eclipse iceoryx
Part 2
1. ROS 2 zero-copy example
2. Performance
3. Limitations
4. Future Work
2
© 2021 Apex.AI, Inc.
Zero-Copy Communication
in ROS 2
1
3
© 2021 Apex.AI, Inc.
Zero-Copy Data Transfer
Modern robotics systems are distributed and consist of multiple applications
Modular design promotes reusability and extensibility
It also leads to the challenge of exchanging large volumes of data between modules ...
● data from the sensors themselves (video, radar, Lidar)
● intermediate computation results (objects, descriptors, world model, etc.)
● avoid copying data if possible
Perception Pipeline
Sensors Preprocessing Fusion Planning Actors
Sensor Data Objects World Model Actor Goal
(e.g. Trajectory)
4
© 2021 Apex.AI, Inc.
Zero-Copy Data Transfer
Zero-copy
● data is generated in memory at its destination (e.g. by sensors or as a computation result)
● transmission between applications does not incur additional copies
● data transmission cost is independent of message size
Shared memory
● requires applications to be able to share the same memory (i.e. run on the same hardware device)
● data is not transferred but access permission is passed around
● from a user interface perspective it is like sending the data
Multiple hardware devices
● if the data is required on a different device (ECU) no zero-copy data transfer is possible
● in this case some kind of network communication is usually used
● copies can and should still be minimized
We focus on the single device use case
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