Starting v1.10.0, eProsima Fast DDS features a new Interprocess Communication Mechanism (IPC) based on sharing memory across different processes running in the same host: Shared Memory Transport (SHM). This new transport allows software components to interchange data between them without any networking involvement.

Shared Memory Transport

This not only improves data delivery performance in terms of throughput and latency significantly, but it also constitutes a suitable transport layer for real-time publish-subscribe applications using DDS.

Shared Memory - Throughput Distribution 

Transport Comparison

Designed with high performance requirements in mind, eProsima Fast DDS Shared Memory Transport features:

  • High throughput and latency performance in IPC
  • Reduction of memory copies
  • Cross-platform solution supported in AMD64 Linux, Windows 10 (32 and 64 bits), Mac OSX, aarch64 Linux, QNX

Why use Shared Memory?

The normal data IPC in ROS 2 uses the loopback mechanism of the operating system. While this is good enough for many cases, in the case of large data and multiple subscribers (such a computer vision application), Fast DDS Shared Memory Transport significantly reduces latency and CPU usage while increasing the throughput.

Available Documentation:

More information about the eProsima Shared Memory Transport:

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