tzc_transport | An efficient IPC for ROS with Partial Serialization

tzc_transport is a C++ library. tzc_transport has no bugs, it has no vulnerabilities and it has low support. You can download it from GitHub.

An efficient IPC for ROS with partial serialization. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial serialization. Our formulation can generate messages that can be divided into two parts. During message transmission, one part is transmitted through a socket and the other part uses shared memory. The part within shared memory is never copied or serialized during its lifetime. Our tests show that when the message size is 4MB, TZC can reduce the overhead of ROS IPC from tens of milliseconds to hundreds of microseconds. A more detailed report can be found: A video of applications is at