Is it possible to transfer without Serializations-Deserializations?

[wjhtinger]

How to config or code？

[JesusPoderoso]

There is a tutorial in this section of the documentation. Also there is a complete example in our repository.

[wjhtinger]

So，when Zero-Copy communication used, the Serializations-Deserializations are bypassed?

[JesusPoderoso]

When loan mechanism is used, the Serializations-Deserializations are bypassed.
The use of loans plus Data-sharing or intra-process delivery, results in a zero copies communication.
But you can use loans anyways with UDP or Shared memory to avoid Serializations-Deserializations.

[Syamkamalnadhc]

Is ROS2 Humble supports the loaning mechanism with UDP transport?

[JesusPoderoso]

Hi @Syamkamalnadhc, as answered in your previous thread, ROS 2 Humble does not support loan mechanism if data-sharing is disabled. For that reason, loans and UDP communication are not compatible in ROS 2 Humble.