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Signed-off-by: Christian Eichmann <eichmann@fzi.de>
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Node composition contributed by @JinyongJeong-Riibotics as part of #59, rebased onto the current master branch
Initial PR description below:
Purpose of this PR
The current driver does not support zero-copy intra-process communication (IPC) when used as a composed component.
This pull request introduces the required modifications to enable composition-friendly, zero-copy operation.
Key Changes
Constructor Signature
The primary constructor now accepts rclcpp::NodeOptions, ensuring the driver can be instantiated as a composable node.
Component Registration
The node is registered with rclcpp_components_register_node, allowing it to be loaded dynamically into a component container.
Subscriber Count Check
Before each publish, the driver verifies that at least one subscriber is connected, eliminating unnecessary work when no consumers are present.
Zero-Copy Publishing
Message data are created and published as std::unique_ptr objects.
In environments where IPC is enabled, this enables true zero-copy transfer; when IPC is disabled, behavior remains identical to standard publishing.
Reduced Copy Overhead
Internal data structures are generated directly into unique_ptr instances, minimizing intermediate copies and improving performance.
Maintainer Guidance
These changes, particularly the revised constructor, introduce breaking API differences.
If the new interface or zero-copy assumptions conflict with the project’s roadmap, please let me know. I will close this PR rather than disrupt the main branch.