Thoroughly test zero-copy transport
The ROS 2 wiki describes how you should be able to achieve zero-copy message transport by using unique_ptr
s. Initial tests didn't show any improvement over using shared_ptr
s. This should be revisited properly to see if ROS actually does what it's supposed to.
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Run the demos and reproduce the results showing zero-copy of messages -
Test the same is happening in our own code; the unique_ptr_publish branch on boldhearts/ros2_v4l2_camera> can be used for this
Edited by Sander G. van Dijk