rmw_iceoryx

Enables direct data sharing via shared memory for fixed-size messages, drastically reducing latency and CPU overhead by eliminating serialization and copying, as demonstrated in the loaned message workflow.

Built on rosidl_typesupport_introspection, allowing integration without rebuilding ROS 2 messages, and supports standard CLI tools like ros2 topic and node commands from Eloquent onwards.

Leverages iceoryx's RouDi daemon to allocate and manage shared memory segments, optimizing inter-process communication for fixed-size Plain Old Data (POD) types.

Works out-of-the-box with existing ROS 2 demo nodes and tools such as rqt_graph and rviz2, facilitating easy adoption and testing in familiar workflows.