Is shm used in nodes connected in the same SOC

[sgf201]

As I see,zenoh can use shm for msg ,Is shm used in rmw_zenoh?

[Yadunund]

Preliminary efforts were made to support SHM but certain memory leaks were discovered. Hence, SHM is disabled by default in the session config.

[sgf201]

as I see, loan api of ros2 is UNSUPPORTED now, will it supported with shm in roadmap?

[ruffsl]

Hence, SHM is disabled by default

@Yadunund , is there some context for that. From git blame of that config line, is this perhaps all of it?

• Support basic QoS settings #91 (comment)
• a9b4245

[Yadunund]

Hence, SHM is disabled by default

@Yadunund , is there some context for that. From git blame of that config line, is this perhaps all of it?

• Support basic QoS settings #91 (comment)
• a9b4245

It's an issue in the Zenoh implementation. See eclipse-zenoh/zenoh#406.

My understanding is that Zettascale is working on a true-zero-copy alternative so we're likely going to wait for that to land and update our SHM implementation accordingly.

[JEnoch]

That's right, a new shared memory will be available very soon with Zenoh 1.0.0.
The development in Rust is already completed, and the C API has been merged to the dev/1.0.0 branch last week:
eclipse-zenoh/zenoh-c#405

[kikuyuta]

That's a great news!
According to my understanding, currently we can use zenoh-pico for poor capability chips e.g. ESP32.
Will zenoh 1.0.0, the Rust version with shared memory functionality, work on such poor chips? Or will zenoh-pico also have SHM functionality?

[JEnoch]

There is no plan for a Zenoh Rust for constrained devices, neither for SHM in zenoh-pico.
But the Zenoh team is always eager to learn about new use cases and to get suggestions of new features. 😃
Please, feel free to open a discussion here:
https://github.com/eclipse-zenoh/roadmap/discussions/categories/ideas-and-new-features

[kikuyuta]

@JEnoch Thank you for your reply.
Okay I will open a new discussion there, but later, because it is past midnight in Japan.

[sgf201]

as I see, loan api of ros2 is UNSUPPORTED now, will it supported with shm in roadmap?

can you give me a bref info about this?
@JEnoch