Use this message type to allocate messages' buffers (vectors) from a shared pool of memory. That should result in lower cost of frequent allocations. However, the effect should always be checked in practice - in many applications, the pool-allocated messages can actually degrade performance. More...
#include <boost/pool/pool_alloc.hpp>#include <sensor_msgs/BatteryState.h>#include <sensor_msgs/CameraInfo.h>#include <sensor_msgs/ChannelFloat32.h>#include <sensor_msgs/CompressedImage.h>#include <sensor_msgs/Image.h>#include <sensor_msgs/JointState.h>#include <sensor_msgs/Joy.h>#include <sensor_msgs/JoyFeedback.h>#include <sensor_msgs/JoyFeedbackArray.h>#include <sensor_msgs/LaserEcho.h>#include <sensor_msgs/LaserScan.h>#include <sensor_msgs/MultiDOFJointState.h>#include <sensor_msgs/MultiEchoLaserScan.h>#include <sensor_msgs/PointCloud.h>#include <sensor_msgs/PointCloud2.h>#include <ros/message_forward.h>
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Detailed Description
Use this message type to allocate messages' buffers (vectors) from a shared pool of memory. That should result in lower cost of frequent allocations. However, the effect should always be checked in practice - in many applications, the pool-allocated messages can actually degrade performance.
- Note
- Please note that these messages are incompatible with the normally defined messages and the subscribers have to directly subscribe this alternative type. If they subscribe using the type with the default allocator, a serialization and deserialization step is performed to "convert" the messages - even when the publisher and subscriber are in the same node(let). See https://gist.github.com/peci1/be78ffea761e38cdbeeca4e2c961c702 .
- To keep the dependencies of this package sane, it is the responsibility of the downstream packages to find and include Boost and sensor_msgs when using this header.
Definition in file pool_allocated_sensor_msgs.h.