component-composition

You can enable zero-copy transport by loading multiple composable nodes into a single component container. This allows them to communicate in-process, bypassing serialization and reducing IPC overhead for low-latency data flows.

ROS 2 component composition coordinates multiple nodes within a single process to unlock zero-copy transport. You should use it for multi-node pipelines requiring low-latency communication, such as high-performance perception or image processing chains.

You load composable nodes by starting a component container and dynamically loading your nodes into it. This process requires your nodes to accept const rclcpp::NodeOptions &options and use the RCLCPP_COMPONENTS_REGISTER_NODE macro.

Yes, to support container-based loading, your ROS 2 node must use the RCLCPP_COMPONENTS_REGISTER_NODE macro and accept const rclcpp::NodeOptions &options in its constructor. This allows the node to be dynamically loaded into a process.

The best way to reduce IPC overhead in ROS 2 sensor data pipelines is in-process composition. By co-locating related components in a single process, you enable zero-copy transport to minimize serialization and latency.

Yes, component composition supports container-based execution for Jazzy and Rolling workflows. This allows you to dynamically load composable nodes into a single process to achieve zero-copy intra-process communication.