This is an rmw wrapper for the Hazcat zero-copy middleware. More information on the project can be found in that repository.

Installation

To install from source, add rmw_hazcat and hazcat into your ROS2 workspace

cd ~/ros2_ws/src/ros2
git clone git@github.com:nightduck/rmw_hazcat.git
cd ../
git clone git@github.com:nightduck/hazcat.git

Install dependencies and build the workspace as usual

cd ~/ros2_ws
rosdep udpate
rosdep install --from-paths src --ignore-src --rosdistro LATEST_ROS_VERSION -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

Limitations

rmw_hazcat is still extremely experimental. Below are the features currently supported.

ROS 2 command/feature	Status
ros2 run	✔️
ros2 topic list	❌
ros2 topic echo	❌
ros2 topic type	❌
ros2 topic info	❌
ros2 topic hz	❌
ros2 topic bw	❌
ros2 node list	❌
ros2 node info	❌
ros2 interface *	❌
ros2 service *	❌
ros2 param list	❌
ros2 bag	❌
RMW Pub/Sub Events	❌