ipc_shared_ptr: A Publish/Subscribe-Aware Smart Pointer for Cross-Process Object Lifetime Management

Takahiro Ishikawa-Aso, Atsushi Yano, Koichi Imai +2

True zero-copy Inter-Process Communication (IPC) in publish/subscribe (pub/sub) middleware such as Robot Operating System 2 (ROS 2) requires subscribers to reference message object…